The rapid demand for cloud services has provoked cloud providers to efficiently resolve the problem of Virtual Machines Placement in the cloud. This paper presents a VM Placement using Reinforcement Learning that aims to provide optimal resource and energy management for cloud data centers. Reinforcement Learning provides better decision-making as it solves the complexity of VM Placement problem caused due to tradeoff among the objectives and hence is useful for mapping requested VM on the minimum number of Physical Machines. An enhanced Tournament-based selection strategy along with Roulette Wheel sampling has been applied to ensure that the optimization goes through balanced exploration and exploitation, thereby giving better solution quality. Two heuristics have been used for the ordering of VM, considering the impact of CPU and memory utilizations over the VM placement. Moreover, the concept of the Pareto approximate set has been considered to ensure that both objectives are prioritized according to the perspective of the users. The proposed technique has been implemented on MATLAB 2020b. Simulation analysis showed that the VMRL performed preferably well and has shown improvement of 17%, 20% and 18% in terms of energy consumption, resource utilization and fragmentation respectively in comparison to other multi-objective algorithms.