Yorkshire Housing is hoping to build four three-bedroomed homes in the heart of Grassington.
It is seeking planning permission to erect the row of terraced homes on disused pasture land at Mirefield, Garrs End Lane.
The affordable homes would be rented out.
A design and access statement prepared by planning consultants Dodd Frankland Stocks says the site is 250 metres north of Main Street and is in an established residential area.
Each home would have two parking spaces and a “sizeable” external amenity space and according to the statement, the design would match the “urban grain and footprint” of the surrounding dwellings.
The application will be decided by the Yorkshire Dales National Park Authority.