City of Cambridge has 2 municipal garages and 9 Off-Street Parking Lots.

First Street Garage
Located in East Cambridge across from the Middlesex Court house (map)
First Street Art (Link)
Open 7 days a week
Entrance on Spring Street
Rates:   $2.00 first hr.
             $1.00 2nd & 3rd hr.
             $2.00/hr thereafter
             $20.00 daily maximum
             $5.00 night rate
             $5.00 weekend maximum

Green Street - Franklin Street Garage
Located in Central Square at the corner of Pearl Street and Green Street  (map)
Green Street Artwork   (Link)
Open 24/7
Entrance on Green Street
Rates:   $1.00/hr 7 days a week
             $13.00 daily maximum
             $5.00 night rate