New homes have been approved after developers redesigned the 'cramped' layout.
Maldon District Council planning officers had originally recommended the 117 homes at Southminster West Business Park on Scotts Hill, Southmister, be rejected.
They said the homes were too close together and could cause overlooking and the gardens were too small.
They also opposed the walled entrance to the estate.
Councillors deferred making a decision until earlier this month, when David Wilson Homes put forward amended plans, which included removing the walled entrance, re-positioned the homes and enlarged the gardens.