SKDC temporarily suspended charges at the end of March as part of its response to the pandemic. The decision was reviewed at the start of June when free parking was extended to July 31 to cover the first phase of the re-opening of town centres.
The Cabinet Member for Commercial and Operations, Cllr Dr Peter Moseley, said: "The suspension of parking charges was a temporary measure and we have ensured it remained in place while the outbreak was at its peak. During that time the car parks have mainly been used by key workers and those having to make essential journeys.
"Parking charges are an important revenue stream that help pay for essential services provided by SKDC and, with lockdown restrictions easing, the time is right for them to be reintroduced."
The charges will be back at car parks in Grantham at Welham Street, Guildhall Street, Watergate, Wharf Road, and Conduit Lane, and in Stamford at North Street, Bath Row, St Leonards Street, Scotgate, Wharf Road and Cattle Market.
Cllr Dr Moseley said drivers should continue to follow social distancing guidelines and consider others when getting in and out of their vehicles.
He said: "Public health remains a top priority and anyone using the pay and display machines should also remember to apply hand sanitiser as a precaution after they have done so. There is also the option of paying by mobile phone, details of which are on the ticket machines."