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Three of the most “intimidating” roundabouts for cyclists in London are to be axed.

The roundabouts at either end of Lambeth Bridge are to be removed and the Imax roundabout at Waterloo is to be redesigned to improve safety for cyclists and pedestrians.

Both areas are notorious for their high number of casualties. The roundabout on the north side of Lambeth bridge was where royal designer Moira Gemmill, 55, was killed in collision with a left-turning HGV as she cycled to work in April 2015.

Transport for London today opened a two-month consultation on the changes. Work to replace the Lambeth roundabouts, expected to cost £12 million, with conventional traffic-light junctions and pedestrian crossings could start next year and would take a year to complete.

The Waterloo changes, expected to cost £25 million, which include closing the south-western corner of the Imax roundabout and implementing a two-way road layout, could start by late 2019 and take 18 months to complete.

Segregated cycle lanes would be built on either side of Lambeth Bridge, and on roads leading to the crossing. Cyclists turning right would do so in two stages, while those turning left would be able to use a “bypass” to avoid having to wait for a green light.

Both Waterloo and Lambeth bridge were among the 73 junctions identified by Transport for London as having the worst safety record for pedestrians, cyclists and motorcyclists.

A total of 33 of these junctions are due to be improved during the five years of the current TfL business plan.

Will Norman, London’s walking and cycling commissioner, said: “Our plans for Lambeth Bridge and Waterloo will make a real difference to these intimidating junctions. They will be completely transformed to make the areas safer and more pleasant to travel through, and will link cyclists up to our wider cycle network. It’s a great example of our work to improve London’s most dangerous junctions and create people-friendly streets across the city.”

A new public space would be created at Waterloo to ease pedestrian overcrowding and reduce traffic dominance. The bus station would be upgraded and cycle lanes would be built around the Imax cinema.