BACKGROUND/OBJECTIVE: This two-arm randomized controlled trial investigated the effects of a 12-week hatha yoga intervention on shoulder and hip range of motion, cardiorespiratory fitness, and balance in people with Parkinson's disease. METHODS: Forty-nine people with Parkinson's disease were randomized into the intervention group (IG; n = 25) and the control group (n = 24). After follow-up losses, 23 participants from the IG were included in the intention-to-treat analysis, 19 in the per-protocol analysis, and 18 remained in the control group. The variables analyzed included shoulder and hip range of motion (digital goniometry), cardiorespiratory fitness (6-min walk test), motor symptoms (Movement Disorder Society-Unified Parkinson's Disease Rating Scale III), and balance (Mini-Balance Evaluation Systems Test). RESULTS: A significant and clinically meaningful reduction in Movement Disorder Society-Unified Parkinson's Disease Rating Scale III scores was observed within the IG (-11.31 points, p < .001, d = 2.94). However, no significant Group × Time interactions were identified for the primary or secondary outcomes. Although no between-group differences were observed, the IG showed trends toward improvements in balance and cardiorespiratory fitness particularly among participants with greater adherence to the protocol. CONCLUSION: These findings suggest that hatha yoga was associated with clinically meaningful improvements in global motor performance within the IG while contributing to the functional preservation of balance and cardiorespiratory capacity. Significance/Implications: These findings support the inclusion of hatha yoga as a practical and accessible therapeutic option to complement traditional rehabilitation approaches in patients with Parkinson's disease.