The city approved a developer’s controversial plans for a “poor door” on the Upper West Side, The Post has learned.

Extell came under fire last year when it introduced plans for a 33-story luxury condo with a separate entrance for affordable-housing tenants.

A spokesman for the Department of Housing Preservation and Development confirmed that the agency had approved Extell’s application for the Inclusionary Housing Program.

Under the program, developers may build larger properties in exchange for providing on- or off-site low-income housing.

The development will have 219 units overlooking the waterfront and 55 affordable units in a “building segment” facing the street.

Manhattan Borough President Gale Brewer vowed to reject future developments with separate entrances.