The man, in his 30s, was found with chest injuries in the red Mazda in North Way, Barton, just after 22:45 BST on Tuesday. He later died in hospital.
Police said 34-year-old Rafal Stawski of Mayfair Road, Oxford, had been charged with one count of murder.
A 31-year-old man, from Oxford, also arrested in connection with the man's death has been released without charge.
Mr Stawski is due to appear before Oxford Magistrates' Court.
A man has been charged with the murder of a man found fatally injured in parked car in Oxford.