We present cosmological parameter results from the final full-mission Planck measurements of the CMB anisotropies. We find good consistency with the standard spatially-flat 6-parameter $Λ$CDM cosmology having a power-law spectrum of adiabatic scalar perturbations (denoted "base $Λ$CDM" in this paper), from polarization, temperature, and lensing, separately and in combination. A combined analysis gives dark matter density $Ω_c h^2 = 0.120\pm 0.001$, baryon density $Ω_b h^2 = 0.0224\pm 0.0001$, scalar spectral index $n_s = 0.965\pm 0.004$, and optical depth $τ= 0.054\pm 0.007$ (in this abstract we quote $68\,\%$ confidence regions on measured parameters and $95\,\%$ on upper limits). The angular acoustic scale is measured to $0.03\,\%$ precision, with $100θ_*=1.0411\pm 0.0003$. These results are only weakly dependent on the cosmological model and remain stable, with somewhat increased errors, in many commonly considered extensions. Assuming the base-$Λ$CDM cosmology, the inferred late-Universe parameters are: Hubble constant $H_0 = (67.4\pm 0.5)$km/s/Mpc; matter density parameter $Ω_m = 0.315\pm 0.007$; and matter fluctuation amplitude $σ_8 = 0.811\pm 0.006$. We find no compelling evidence for extensions to the base-$Λ$CDM model. Combining with BAO we constrain the effective extra relativistic degrees of freedom to be $N_{\rm eff} = 2.99\pm 0.17$, and the neutrino mass is tightly constrained to $\sum m_ν< 0.12$eV. The CMB spectra continue to prefer higher lensing amplitudes than predicted in base -$Λ$CDM at over $2\,σ$, which pulls some parameters that affect the lensing amplitude away from the base-$Λ$CDM model; however, this is not supported by the lensing reconstruction or (in models that also change the background geometry) BAO data. (Abridged)