Set out by Local Government Minister Kevin Stewart, the legislation builds of recommendations of an independent review carried out by a panel of experts last year.
The Bill aims to create a new structure for a more proactive and enabling system with clearer development plans, earlier engagement with communities, streamlined procedures and smarter resourcing.
Mr Stewart said the Bill will reduce bureaucracy so planners are "better equipped" to lead high-quality developments that support the economy and enhance communities.
"Our planning system must take a strong and confident lead in securing the development of great places that will stand the test of time and this Bill will encourage more people to play an active role in shaping these," he said.
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"In addition to restructuring and simplifying the system to provide greater certainty for investors and communities alike it will reflect the importance of development and infrastructure to achieve our ambitions for housing, schools and regeneration – creating jobs and generating economic growth.
"Performance improvement will be formalised so applicants can rely on receiving a consistent service and local authorities will have greater powers to charge for their services."
However, Convenor of Royal Town Planning Institute (RTPI) Scotland, Stefano Smith, said the organisation questions whether the Bill is "bold enough" to make change.
"We said at the outset of the planning review that it was a fantastic opportunity to realise the potential of the planning system and to highlight the important role planning had in creating the types of places we want across Scotland," he said.
"Any new planning act must aim to fulfil those initial aspirations of a planning system that delivers infrastructure to enable development and achieve sustainable economic growth.
"The bill, as introduced, has the right direction of travel and will fix some of the issues faced in planning our cities, towns and villages. However,we question if it is bold enough to make the step change required for a world leading planning system."
(LM/CD)
