Isn't orbital velocity proportional to $1/\sqrt r$?
As Emilio Pisanty mentioned in his answer, that's the speed of an object on a parabolic trajectory. That requires a fairly high velocity. The orbital speed drops to $1/\sqrt{2r}$ for an object in a circular orbit. The general rule, for all kinds of orbits in the two body problem is given by the vis viva equation,
$$v^2 = G(M_1+M_2)\left(\frac2r-\frac1a\right)$$
where $v$ is the relative velocity between the two gravitating objects, $M_1$ and $M_2$ are their masses, $r$ is the distance between the objects, and $a$ is the semi-major axis length of the conic section (circles, ellipses, parabolae, and hyperbolae). Note that the semi-major axis length is infinite for a parabola and negative for a hyperbola. In the case of a tiny mass such as the Parker Space Probe and a large mass such as the Sun, this reduces to
$$v^2 = \mu_\odot\left(\frac2r-\frac1a\right)$$
where $\mu_\odot \equiv GM_\odot$ is the Sun's standard gravitational parameter.
The vis viva equation appears so often in orbital mechanics that it's worthwhile remembering it.
After multiple gravity assists from Venus, the Parker Space Probe's perihelion distance will be h=3.83 million miles above the surface of the Sun, or $r_\odot+h$ from the center of the Sun. It's aphelion distance will be a bit above $R_v$, Venus's orbital radius. The semimajor axis length of the orbit is thus $(R_v+r_s+h)/2$, and the velocity at perihelion is
$$v_p = \sqrt{\mu_\odot \left(\frac2{r_\odot+h} - \frac2{R_v+r_\odot+h}\right)}
= \sqrt{\frac{2\mu_\odot}{R_v+r_\odot+h}\frac{R_v}{r_\odot+h}}$$
One could go through the tedium of looking up the Sun's radius ($695700\, \text{km}$) and gravitational parameter ($132712440018\,\mathrm{km}^3/\mathrm{s}^2$), Venus's orbital radius ($108208930\,\text{km}$), and converting 3.83 million miles to something sensible ($6164000\,\mathrm{km}$), arrive at an answer of 190.8 km/s with the help of a nice online calculator.
But why bother? The linked online calculator is rather smart. It can do that tedious stuff. Just tell it what you want.