Parent stream got failed but all child streams got completed successfully , can we able to do restore or not ??

You still did not tell us if this is db or filesystem backup. Policy name says this is possibly NDMP filesystem backup? You need to have another look at child jobs. It looks like one of the child jobs failed with status 84. The parent job will reflect the status of failed child stream. I would say that restore from successful streams will be possible. You can confirm with browse for restores.