Two commercial properties off Soldiers Field Road in Brighton would be redeveloped into a 249-unit multifamily complex under plans submitted this week to the Boston Planning and Development Agency.

The 201,517-square-foot development will include 211 market-rate apartments at 1550 Soldiers Field Road and a 38-unit income-restricted condo building across the street at 21 Soldiers Field Place, according to a letter of intent submitted by attorney Joseph Hanley who represents Boston-based Dinosaur Capital Partners. The affordable condos would comprise 18 percent of the project’s total units.

Earlier plans for a 230-unit apartment complex with 13 percent affordable units and a parking deck on the Soldiers Field Place parcel were shelved after comments received during community meetings. The latest plans include a 148-space underground garage at 1550 Soldiers Field Road and 32 garaged spaces at the second parcel.

The redevelopment would improve pedestrian connections to Charles River recreation areas and the MBTA’s Boston Landing commuter rail station, developers said. The development is subject to a BDPA large project review and requires relief from the existing zoning, subject to Zoning Board of Appeal approval.