There is https://github.com/Fanael/rainbow-delimiters package that achieves that.

Howerer, I find it too distracting when it colorizes all parens in a buffer, so I use https://sr.ht/~tsdh/highlight-parentheses.el/ instead. That one only colors parens surrounding your cursor.

+1 for rainbow-delimiters, most themes support it (I personally use doom-nord)

Consider the following https://github.com/istib/rainbow-blocks

If you find yourself bothered by all of the colored parens, rainbow parens + only http://timothypratley.blogspot.com/2015/07/seven-specialty-emacs-settings-with-big.html= .

rainbow-delimiters + the builldin show-paren-mode

I just actually got rainbow-delimiters installed, and am trying it out right now... and I have to say that I'm not liking the standard colours. Does anybody care to share or point me to some colour settings that would maybe make the different delimiters easier to distinguish?