Currently, the only daily parade at Walt Disney World is the Festival of Fantasy parade at Magic Kingdom.  Show times vary from day to day, but usually take place mid-afternoon.
The parade route begins in Frontierland, travels through Liberty Square and finishes down Main Street USA.  Anywhere along this route is a great place to see all the floats and dancing characters!
On select nights during the special ticketed party events, Mickey’s Not So Scary Halloween Party, and Mickey’s Very Merry Christmas Party, you will also be treated to extra special evening parades.