<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:01a08c5c-e580-7bc9-ada6-3ec1b5eae26d,g:baba2537-a152-46b7-8f6d-c965e24f211e-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:ph="http://www.parker.com/20260915" xmlns:xbrli="http://www.xbrl.org/2003/instance" xmlns:dtr-types="http://www.xbrl.org/dtr/type/2024-01-31" attributeFormDefault="unqualified" elementFormDefault="qualified" targetNamespace="http://www.parker.com/20260915">
  <xs:import namespace="http://www.xbrl.org/2003/instance" schemaLocation="http://www.xbrl.org/2003/xbrl-instance-2003-12-31.xsd"/>
  <xs:import namespace="http://www.xbrl.org/2003/linkbase" schemaLocation="http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd"/>
  <xs:import namespace="http://www.xbrl.org/dtr/type/2024-01-31" schemaLocation="https://www.xbrl.org/dtr/type/2024-01-31/types.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/dei-sub/2026" schemaLocation="https://xbrl.sec.gov/dei/2026/dei-sub-2026.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/ecd-sub/2026" schemaLocation="https://xbrl.sec.gov/ecd/2026/ecd-sub-2026.xsd"/>
  <xs:annotation>
    <xs:appinfo>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="ph-20260915_pre.xml" xlink:role="http://www.xbrl.org/2003/role/presentationLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="ph-20260915_def.xml" xlink:role="http://www.xbrl.org/2003/role/definitionLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="ph-20260915_lab.xml" xlink:role="http://www.xbrl.org/2003/role/labelLinkbaseRef" xlink:type="simple"/>
    </xs:appinfo>
  </xs:annotation>
  <xs:element id="ph_WilliamsMember" abstract="true" name="WilliamsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ParmentierMember" abstract="true" name="ParmentierMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ExclusionOfChangeInPensionValueForPEO2Member" abstract="true" name="ExclusionOfChangeInPensionValueForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ExclusionOfStockAwardsAndOptionAwardsForPEO2Member" abstract="true" name="ExclusionOfStockAwardsAndOptionAwardsForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_InclusionOfPensionServiceCostForPEO2Member" abstract="true" name="InclusionOfPensionServiceCostForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_InclusionOfEquityValuesForPEO2Member" abstract="true" name="InclusionOfEquityValuesForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ExclusionOfAverageChangeInPensionValueForNonPEONEOsMember" abstract="true" name="ExclusionOfAverageChangeInPensionValueForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ExclusionOfAverageStockAwardsAndOptionAwardsForNonPEONEOsMember" abstract="true" name="ExclusionOfAverageStockAwardsAndOptionAwardsForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_InclusionOfAveragePensionServiceCostForNonPEONEOsMember" abstract="true" name="InclusionOfAveragePensionServiceCostForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_InclusionOfAverageEquityValuesForNonPEONEOsMember" abstract="true" name="InclusionOfAverageEquityValuesForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_YearEndFairValueOfEquityAwardsGrantedDuringFiscalYearThatRemainedUnvestedAsOfLastDayOfFiscalYearForPEO2Member" abstract="true" name="YearEndFairValueOfEquityAwardsGrantedDuringFiscalYearThatRemainedUnvestedAsOfLastDayOfFiscalYearForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ChangeInFairValueFromLastDayOfPriorFiscalYearToLastDayOfFiscalYearOfUnvestedPriorFiscalYearEquityAwardsForPEO2Member" abstract="true" name="ChangeInFairValueFromLastDayOfPriorFiscalYearToLastDayOfFiscalYearOfUnvestedPriorFiscalYearEquityAwardsForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_VestingDateFairValueOfEquityAwardsGrantedDuringFiscalYearThatVestedDuringFiscalYearForPEO2Member" abstract="true" name="VestingDateFairValueOfEquityAwardsGrantedDuringFiscalYearThatVestedDuringFiscalYearForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_ChangeInFairValueFromLastDayOfPriorFiscalYearToVestingDateOfUnvestedPriorFiscalYearEquityAwardsThatVestedDuringFiscalYearForPEO2Member" abstract="true" name="ChangeInFairValueFromLastDayOfPriorFiscalYearToVestingDateOfUnvestedPriorFiscalYearEquityAwardsThatVestedDuringFiscalYearForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_FairValueAtLastDayOfPriorFiscalYearOfEquityAwardsForfeitedDuringFiscalYearForPEO2Member" abstract="true" name="FairValueAtLastDayOfPriorFiscalYearOfEquityAwardsForfeitedDuringFiscalYearForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_TotalInclusionOfEquityValuesForPEO2Member" abstract="true" name="TotalInclusionOfEquityValuesForPEO2Member" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_AverageYearEndFairValueOfEquityAwardsGrantedDuringFiscalYearThatRemainedUnvestedAsOfLastDayOfFiscalYearForNonPEONEOsMember" abstract="true" name="AverageYearEndFairValueOfEquityAwardsGrantedDuringFiscalYearThatRemainedUnvestedAsOfLastDayOfFiscalYearForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_AverageChangeInFairValueFromLastDayOfPriorFiscalYearToLastDayOfFiscalYearOfUnvestedPriorFiscalYearEquityAwardsForNonPEONEOsMember" abstract="true" name="AverageChangeInFairValueFromLastDayOfPriorFiscalYearToLastDayOfFiscalYearOfUnvestedPriorFiscalYearEquityAwardsForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_AverageVestingDateFairValueOfEquityAwardsGrantedDuringFiscalYearThatVestedDuringFiscalYearForNonPEONEOsMember" abstract="true" name="AverageVestingDateFairValueOfEquityAwardsGrantedDuringFiscalYearThatVestedDuringFiscalYearForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_AverageChangeInFairValueFromLastDayOfPriorFiscalYearToVestingDateOfUnvestedPriorFiscalYearEquityAwardsThatVestedDuringFiscalYearForNonPEONEOsMember" abstract="true" name="AverageChangeInFairValueFromLastDayOfPriorFiscalYearToVestingDateOfUnvestedPriorFiscalYearEquityAwardsThatVestedDuringFiscalYearForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_AverageFairValueAtLastDayOfPriorFiscalYearOfEquityAwardsForfeitedDuringFiscalYearForNonPEONEOsMember" abstract="true" name="AverageFairValueAtLastDayOfPriorFiscalYearOfEquityAwardsForfeitedDuringFiscalYearForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="ph_TotalAverageInclusionOfEquityValuesForNonPEONEOsMember" abstract="true" name="TotalAverageInclusionOfEquityValuesForNonPEONEOsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
</xs:schema>
