There are many parking garages in the downtown area. There is a lot of parking available for $10-15 in the lots between Camden Yards and M&T Bank Stadium. There is also street parking for 2 hours for a few bucks and are free after 7:00PM.
I typically use the Stadium Lots. They may cost a little more, but they are close and they provide easy in and out. If you want to use an outside garage, they are plentiful and typically run between $10-$20 depending on which garage you use.
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