Rows could erupt between residents and visitors because of the lack of spaces included in the development, off Keys Road, Staffordshire Police say.
The homes would go on derelict land – owned by the club – which surrounds the 6,039 capacity ground.
And Stafford Town Council has also raised concerns about friction between new residents and the football club on matchdays.
But the Taylor Wimpey plans – which promise to create 100 construction jobs – have been recommended for approval when they go before Cannock Chase District Council’s planning committee.
Staffordshire Police have criticised the plans calling for a ‘range of parking options’ to be explored.
A police statement said: “The high density of dwellings proposed for the site does not allow for sufficient visitor parking within the development.
“The high density of drive ways does not allow for sufficient on street visitor parking.
“If a resident was to hold a child’s birthday party, the number of visitors’ cars would lead to potential parking friction between visitors and residents.”
Hednesford Town Council also raised concerns over parking, saying: “In terms of roads it is noted that the Hednesford Town FC will be accessed via the estate road.
“On match days and when the FC hosts corporate events and private functions there will be concerns for highway safety due to the large numbers of vehicles that will be entering and or leaving simultaneously.
“This could also potentially be a nuisance for those dwellings facing on to the road.”
The development will also increase the parking available at Hednesford Town Football Club and provide a new area of green space to be used by residents
Taylor Wimpey and Hednesford Town FC were both unavailable for comment.