Clifton Park in Rotherham won the heritage and conservation award, while Ouseburn Parks in Newcastle-upon-Tyne and Bushey Rose Garden in Hertfordshire were highly commended.
All three were funded by the Heritage and Big Lottery Funds through their joint Parks for People programme. The combined investment totalled £10.5m.
LDA Design led the restoration of grade II-listed Clifton Park. Judges called it "a scheme that stands as a benchmark of excellence".
Heritage Lottery Fund head of landscape and natural heritage Drew Bennellick said: "Clifton Park is a flagship project and we hope their success will inspire others to see the value of investing in our historic parks."
Judges praised Ouseburn Park's "less is more" philosophy in "delivering a large and complex scheme". Bushey Rose Garden was in a dire state, with sections closed off, before being restored by Land Use Consultants.
The winner of this year's president's award was LDA Design with Hargreaves Associates, Arup and Atkins for the design of the London 2012 Olympic Park.