A total of 20 homes are being planned opposite the Fire Station on the Limerick Road in Naas.
A planning application was submitted to Kildare County Council by Naas-based Quattuor Developments Limited.
The estimated construction value of the proposed development is €4.5m, according to Construction Information Services.
The plans include the demolition of a derelict two-storey house and outbuildings.
The designs include 20 dwellings comprising 11 3-storey houses, one single-storey house and a four-storey block of eight apartments.
A bike shed, car park and bike stands are also proposed.
A new access to Limerick Road and a new boardwalk along the existing stream on the site are also planned.
Landscaping and site works will include part of the adjacent public green space owned by Kildare County Council.