The rules for parking an RV in Amsterdam are the same as parking a car. Of course, you can not occupy more than 1 parking place, and paying the parking rate where applicable is necessary.
You can park an RV for a maximum of 3 nights.
Spending the night in your RV is not allowed.
(source: website City of Amsterdam).

On this page we list the places of which we know it is possible to park an RV on a parking place under surveillance.
The P+R facilities are a lot cheaper than on-street parking, and safer as well.