Part of a 0.69 acre site at Belle Vue Square has been sold for an undisclosed sum to McCarthy & Stone, which will start construction work on the scheme this summer.
It will develop 33 apartments each with their own balcony for sale to the over 60s.
Rushbond has re-developed the main site of Belle Vue Square, a former textile factory built in 1828, in a £25m scheme to create more than 150,000 sq ft of commercial, leisure and residential space.
Rushbond managing director Jonathan Maud said: “The deal represents an important new stage in the redevelopment of this attractive historic textile site which is creating new office space and homes all within walking distance of Skipton town centre and its many amenities.”
In a second deal, Rushbond also sold part of the site to Burley Developments for a proposed mixed-use retail and residential scheme which is to go before Craven District Council planners this summer.