Just like in most European countries, car rental in Nuremberg is relatively inexpensive for drivers over 25 years old.
The prices for car rental in Nuremberg are as follows: Fiat 500 - 30-65 EUR, Seat Ibiza or Audi A1 - around 75 EUR, Ford Focus - up to 100 EUR, SUVs - starting from 140 EUR.
Car rental without a deposit in Nuremberg is available from companies such as EuroCar, Sixt, and Avis. The most popular place to rent a car is the 24-hour rental desks located at the airport.
You can return the car at the same location or at a different place. It is possible to return the car in another city, but keep in mind that it will always be more expensive than renting a car in Nuremberg itself.
Free parking can be found along the city's defensive wall that surrounds the Old Town. In other areas, there are paid parking lots with standard ticket machines that accept coins and cards. Two hours of parking in such a lot will cost you around 2 EUR. The ticket machines may have additional information about free parking on specific days or hours. Detailed information about affordable parking spots in Nuremberg can be found here.
Also, when driving around the city, pay attention to signs that say "Einfahrt und Ausfahrt Tag und Nacht freihalten" on fences and driveways. If you park your car under such a sign, it may be towed away by a tow truck.