The proposals, expected to include a tower block of 21-storeys, have been sent to the council and should be available to view online by the end of the week.
Residents will then be able to comment on the proposals, which will be decided on within 16 weeks.
Roffey managing director Ben Cheal said: “People told us they supported the principle of redeveloping the site and many said they were pleased with the inclusion of affordable homes.
“We want to create a landmark building that represents Worthing’s confidence in itself as a vibrant and thriving seaside town, while remaining mindful of the surrounding area.”
The consultation process saw over 200 people attend two exhibitions to have their say on the proposals.
The number of affordable units has increased by seven to 37, after a reduction in the number of three bedroom homes and increase in one and two-bedroom homes.
The scale of the development as viewed from Brighton Road will be reduced by introducing stepping to the frontage.
The overall number of homes has increased to 147.
Several protests have taken place against the plans in recent weeks.