The short answer is no, but you will find many designated areas to park in Western Australia.
There are a growing number of “RV friendly” towns throughout Western Australia, where you’re permitted to park your RV, campervan or vehicle for up to 72 hours for free.
The same parking laws that apply to registered vehicles also apply to campervans in WA, however it’s what you do in the campervan that will concern parking rangers.  Parking is fine in a campervan, however sleeping and living in a campervan is not permitted in your average parking spot.
To view a map of RV friendly locations around WA, visit RV Friendly Map.