I know nothing about any laws from the late 1800s but the following rules apply:
1. Any restrictions applying to a public highway also apply to any verge or footpath adjacent to it. So, for example, if there are double yellow lines along a road, you can receive a parking penalty if you park on the verge next to it.
2. In London, 'footway parking' can lead to a Penalty Charge Notice:
https://www.londoncouncils.gov.uk/services/parking-services/parking-and-traffic/parking-advice-members-public/footway-parking
3. Elsewhere in the country, parking on a verge or footpath (where there are no yellow lines or other parking restrictions on the adjacent road) is neither an offence under criminal law nor a violation under civil law
unless the vehicle causes an obstruction. However that might change soon:
https://www.bbc.co.uk/news/uk-51844446