We present Dependent Lambek Calculus (Lambek D ), a domain-specific dependent type theory for verified parsing and formal grammar theory. In Lambek D , linear types are used as a syntax for formal grammars, and parsers can be written as linear terms. The linear typing restriction provides a form of intrinsic verification that a parser yields only valid parse trees for the input string. We demonstrate the expressivity of this system by showing that the combination of inductive linear types and dependency on non-linear data can be used to encode commonly used grammar formalisms such as regular and context-free grammars as well as traces of various types of automata. Using these encodings, we define parsers for regular expressions using deterministic automata, as well as examples of verified parsers of context-free grammars. We present a denotational semantics of our type theory that interprets the linear types as functions from strings to sets of abstract parse trees and terms as parse transformers. Based on this denotational semantics, we have made a prototype implementation of Lambek D using a shallow embedding in the Agda proof assistant. All of our examples parsers have been implemented in this prototype implementation.