The 1,500-home plan includes 11 buildings ranging from 6-37 storeys, many with vertical green façades.
The second tallest tower of the £770m scheme will feature a tapering base, giving more space to the public realm.
U+I said it hopes to gain planning before the end of 2020 for a start in 2021.
Over the course of the large Thames waterfront scheme U+I is forecasting development profits of £15-20m.
The housing will be a mix of private sale, social rent and shared ownership with a ‘tenure blind’ specification, meaning there will be no differentiation between affordable and private sale homes in appearance.
Revised plans for the 4-acre former Tate & Lyle sweeteners refinery site were drawn up by Dutch architect OMA.
The plans could also provide a new permanent boathouse for the Queen’s Royal Rowbarge, Gloriana.
Richard Upton, chief development officer at U+I, said: “Our planning submission at Morden Wharf is another key milestone for U+I as we prime our pipeline for growth.
“This riverfront scheme will deliver a distinctive, green, mixed-use neighbourhood, while driving growth and employment and delivering much-needed new homes to the area.”