The incident is happening in the 1400 block of 4th Street, according to Santa Monica Fire Department.
A silver sedan is seen dangling through a gate with the driver's side door open. Fire officials say no occupants have been harmed.
INCIDENT ALERT: @santamonicafd is on scene of a vehicle hanging off of the 4th floor of Parking Structure 5 on 1400blk of 4th St. Occupants unharmmed. USAR team is stabilizing vehicle and working to remove from the edge. Please avoid the area. pic.twitter.com/EfwYmaYFcv— Santa Monica Fire (@santamonicafd) June 11, 2018
An urban search and rescue team "is stabilizing the vehicle and working to remove it from the edge," the fire department said on Twitter.
The public is being urged to avoid the area as crews try to clear the scene.