No, there is no way to restore a snapshot with custom security groups and custom parameter group. When you restore a snapshot, default security group and parameter groups are applied. Then you to modify
the cluster to apply your customer security group and parameter group.
From Restoring From a DB Snapshot:
When you restore a DB instance, only the default DB parameter and security groups are applied. If you need to associate a custom DB parameter or security group to the DB instance, you must apply them explicitly using the RDS console's Modify command, the
ModifyDBInstance API
, or therds-modify-db-instance
command line tool, once the DB instance is available. The option group associated with the DB snapshot is associated with the restored DB instance once it is created.
So, this is 2 step procedure.