Outline permission for up to 60 homes has been secured by the residential developer, working with housing provider Jigsaw Housing Group.
The scheme, on a two-acre site off Barnes Road, also includes 12 allotments, a new community building and a small car park.
A grant funding application has been submitted to Homes England to help fund the affordable-rent homes.
The Skelmersdale development is the fifth scheme Mulbury has worked on with Jigsaw, a provider with more than 34,000 properties across the North West and East Midlands.
Mulbury was advised by Satplan on the planning application. The scheme is designed by Trafford Park-based MPSL.
The scheme will include two, three and four-bedroom homes. Existing trees on the site will be retained, while new landscaping has been proposed along with further tree planting.
Greg Mulligan, director of Mulbury, said: “This site is in a great location for new affordable homes, lying just a short distance from the town centre.
“We are working hard to ensure that the scheme quickly becomes a part of the local community, with public space, landscaping and community facilities very much key to this development.
“The site was once used as local playing fields but has been unused and fenced off from public access for a number of years, so it will be great to see it brought back into use under these plans.”
Joanne Bonnington, assistant director of development at Jigsaw, said: “We are pleased to be able to bring these much-needed affordable homes to local people in Skelmersdale. It’s a great location.”
Mulbury remains busy both in family housing, with projects such as that for 94 homes in St Helens, and in city centre living with its latest proposal being a 237-home scheme close to Manchester’s Marble Arch pub.
The company is also progressing a £4.1m scheme of 39 affordable homes in Winsford for Jigsaw, which is to comprise 20 cottage-style apartments and 19 houses for affordable rent.