| Prior Lake | 1990 | Census 1990 | Single-Family Detached | 3285 |
| Prior Lake | 2000 | Census 2000 | Single-Family Detached | 4592 |
| Prior Lake | 2010 | Estimates 2010 | Single-Family Detached | 5952 |
| Prior Lake | 2020 | Estimates 2020 | Single-Family Detached | 7152 |
| Prior Lake | 2023 | Estimates 2023 | Single-Family Detached | 7457 |
| Prior Lake | 1990 | Census 1990 | Townhomes (single-family attached) | 266 |
| Prior Lake | 2000 | Census 2000 | Townhomes (single-family attached) | 549 |
| Prior Lake | 2010 | Estimates 2010 | Townhomes (single-family attached) | 1818 |
| Prior Lake | 2020 | Estimates 2020 | Townhomes (single-family attached) | 2264 |
| Prior Lake | 2023 | Estimates 2023 | Townhomes (single-family attached) | 2271 |
| Prior Lake | 1990 | Census 1990 | Duplex, triplex and quad | 187 |
| Prior Lake | 2000 | Census 2000 | Duplex, triplex and quad | 202 |
| Prior Lake | 2010 | Estimates 2010 | Duplex, triplex and quad | 172 |
| Prior Lake | 2020 | Estimates 2020 | Duplex, triplex and quad | 119 |
| Prior Lake | 2023 | Estimates 2023 | Duplex, triplex and quad | 119 |
| Prior Lake | 1990 | Census 1990 | Multifamily (5 units or more) | 371 |
| Prior Lake | 2000 | Census 2000 | Multifamily (5 units or more) | 444 |
| Prior Lake | 2010 | Estimates 2010 | Multifamily (5 units or more) | 940 |
| Prior Lake | 2020 | Estimates 2020 | Multifamily (5 units or more) | 1310 |
| Prior Lake | 2023 | Estimates 2023 | Multifamily (5 units or more) | 1382 |
| Prior Lake | 1990 | Census 1990 | Manufactured Home | 53 |
| Prior Lake | 2000 | Census 2000 | Manufactured Home | 7 |
| Prior Lake | 2010 | Estimates 2010 | Manufactured Home | 0 |
| Prior Lake | 2020 | Estimates 2020 | Manufactured Home | 0 |
| Prior Lake | 2023 | Estimates 2023 | Manufactured Home | 0 |
| Prior Lake | 1990 | Census 1990 | Other (Boat, RV, etc.) | 15 |
| Prior Lake | 2000 | Census 2000 | Other (Boat, RV, etc.) | 0 |
| Prior Lake | 2010 | Estimates 2010 | Other (Boat, RV, etc.) | 0 |
| Prior Lake | 2020 | Estimates 2020 | Other (Boat, RV, etc.) | 0 |
| Prior Lake | 2023 | Estimates 2023 | Other (Boat, RV, etc.) | 0 |
| Prior Lake | 2020 | Estimates 2020 | Accessory Dwelling Unit | 0 |
| Prior Lake | 2023 | Estimates 2023 | Accessory Dwelling Unit | 0 |