The £1.9 million scheme - which was drawn up by Landscape Design Associates - is part of a wider project by Yorkshire Forward to transform the area.
The plans, entitled 'The Sandside Project', were developed following discussions between Scarborough Borough Council and Yorkshire Forward, local stakeholders including fishermen, traders, residents and other interested groups.
The resulting plans include proposals to widen pavements and create parking bays along the Harbourside, as well as installing new benches and removing railings to allow tourists and local people to enjoy the sea views.
Barra Mac Ruairi, head of Renaissance Towns and Cities for Yorkshire Forward, said: 'This project is an excellent example of Scarborough's Renaissance.
'It is really a beautiful design and will be a real destination for visitors and residents. I'm looking forward to sitting on a new bench and looking out to sea. It will secure a great asset for Scarborough.
'This is a major step forward and we must maintain the momentum and drive forward the future prosperity of Scarborough together,'Ruairi added.