I have been to the Yale Peabody when my kids were younger and we all really enjoyed the permanent dinosaur collection. It is small enough that you can view the entire collection and not feel overwhelmed, but large enough that you really feel like you have seen quite a bit of material. Having said that, I went to see the special Egyptian collection and I have to say that it was really lacking. It is quite small and underwhelming and appear that the majority of this special collection has been taken from the permanent collection from the 3rd floor and pieces not enough authentic from ancient Egypt.
If you go during the week, there is a limited amount of parking, however, on the weekends, they open up more of the lots, so there is much more parking. I would say that this is a great museum overall, but the special collections need some updating.
This review is the subjective opinion of a TripAdvisor member and not of TripAdvisor LLC.