There is no law outside of London which allows a Penalty Charge Notice (PCN) to be served for this reason on its own.
The Council can issue a PCN if the vehicle is parked next to a parking control. This could be something like a yellow line, because the control also covers the pavement and the verge. If there is no parking control, the Council cannot issue a Notice.
Even if there is no law, vehicles should not park on the pavement or grass verge at any time.