My experience with a car in the Netherlands was MISERABLE with respect to parking, and generally dealing with having a car (parking is not only expensive but also very limited, and time-constrained, so your lovely parking spot it took you 45 minutes to find and is a 10 min walk from where you are staying is only good until 7:30 AM).
This really depends on your frame of reference and where in the Netherlands you're going. Having worked in both London and Amsterdam I think there are many more public parking garage options in Amsterdam and non of those are time limited. Just expensive, but even that is relative since London and most bigger US cities are much more expensive to park in.
If you want low cost, park in a P+R garage outside the city and you get a free train/tram/metro ticket into the city.
