If you use a KOMA-Script class, the solution is already provided by the class itself:
\documentclass[parskip=full]{scrreprt}
(page 49 in the English documentation).
You can also add
\usepackage{etoolbox}
\appto\chapterheadendvskip{\vspace{-1\parskip}}
if you don't want a \parskip added immediately after a chapter title.
For section titles use titlesec. For customizing the amount of the \parskip, use something like
\setparsizes{\parindent}{50pt plus 20pt minus 30pt}{\parfillskip}
in your preamble (adjusting the ridiculous values I put just as an example). It's important to provide stretching and shrinking components to help text fit in the page.