LWD Developments want to build 57 homes on land off Rosemary Lane,
The outline plans include access and associated works, with all matters relating to appearance, landscape and layout reserved.
The firm says that changes have been made to the application following concerns raised at a public exhibition in June.
These include providing bungalows and increasing the open space.
The firm adds that the scheme would provide a number of benefits to the village, including creating jobs, contributing towards local facilities and enhancing the ecology.
However, some residents are still concerned that it will have a detrimental effect on the village.
"This would overwhelm the local services – we have a full school, occasional bus service, and the roads are not up to increased traffic, especially near the site," said Leintwardine Parish Council chairman Alison Kay.
"There is no local employment and travel has to be anywhere by car.
"This appears to be one of several speculative developments being proposed across Herefordshire, by developers exploiting a loophole in the current planning rules."
In a written submission to Herefordshire Council, Eileen Tavernor said that 20 homes would be more suitable for the village.
"The infrastructure is simply inadequate for a larger development," she said.