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Five developers have submitted plans for housing and commercial space on a 4.5-acre Haverhill property that’s viewed as a linchpin of downtown revitalization efforts.

The bidders to redevelop the city-owned Goecke parking deck and surface lots on Merrimack Street include Lawrence-based Lupoli Cos., which completed the nearby Haverhill Heights residential tower at 160 Merrimack St. and Harbor Place mixed-use development at 2 Merrimack St.

Also submitting proposals were Jefferson Apartment Group, which has led the redevelopment of the former Malden City Hall property including construction of its new J. Malden Center apartment complex, Boston-based Trinity Financial, Dakota Partners of Waltham and Panifex LLC of South Boston.

Proposals include a mix of retail, office and residential space in three or four buildings, the mayor’s office announced this week. All of the proposals include between 414 and 570 parking spaces in a replacement garage.

“To have five big, experienced companies interested and competing to develop this site is great news and more evidence of just how far our downtown has come and how optimistic everyone is about our present and future,” Haverhill Mayor James Fiorentini said in a statement.

In November, the city sought proposals for a “significant redevelopment project” to replace the deteriorating half-century-old parking garage as well as parking lots which are leased to nearby businesses.

An advisory committee including Boston-based land-use consultants Utile will evaluate the proposals, according to the mayor’s office.