Stay away from people and situations that keep you longing, yearning and believing that if only you tried harder you would win their approval and love. Aim not emulate your critical parent and criticize others. If you continue the pattern in your own family and with others you love, you'll be affirming that your parent's behavior toward you was right and proper, instead of showing by example that it was completely wrong to treat another human in such a manner. Set in motion a new pattern for your life and family by refusing to give in to the temptation to be critical of others. Understand that if a person can't see the good in others, they are lacking some basic qualities needed for healthy human relationships.
Some people are, by nature, judgmental perfectionists.
It isn't your fault that you were born to one of them.