Linden Homes submitted two applications for the land at Foxley Lane, off Forest Road - the first being for 16 houses and four apartments and the second for 14 houses.
Speaking after last Thursday's planning meeting, Cllr Michael Brossard, vice-chairman of the committee, said: "There had been some consultation between the residents and the developer. They had taken into account the views of the residents."
The committee voted nine to three in favour of the application with fewer homes, going against the recommendations of the council's planning officers who said more homes would be the best choice.
"What we have done is given the developer a steer as to what we think is appropriate and we suspect the residents will feel the same," added Cllr Brossard.
The application for the greater number of homes had received 35 objections from residents - primarily concerned about over-development - while the application for 14 homes received 27 complaints.