The number of savers on the right track to receive their desired pension income has increased to 12% from 7% a year ago according to research from Aegon.
The life insurer's UK Readiness Report said this equated to an extra two million people between April 2015 and April 2016.
Using national archives figures, the report highlighted the pension freedoms and auto-enrolment had together contributed to better engagement.
One of the key drivers is people becoming more realistic about the retirement income they could receive. Average annual income expectations had fallen from £42,000 in April 2015, to £38,000.
This coupled with 15% of the population saving more into their retirement pot due to the freedoms meant the gap between people's preferred income and the one they were set to receive had narrowed by £6,600 in the last year. However, there was still a £24,000 shortfall to address.
People were also engaging more with their savings, perhaps also helped by the accelerated move away from defined benefit to defined contribution schemes.
The research which also sampled 3890 people between 29 February and 7 March 2016 found a quarter had checked the performance of their retirement savings within the last six months.
Meanwhile over a fifth (22%) took steps to review their plans for retirement. This is up from 19% and 18% respectively in April 2015, with government initiatives also appearing to be improving overall engagement.
Aegon pensions director Steven Cameron (pictured) said: "We're seeing a seismic shift in attitudes towards saving for later years.
"As we enter an era of personal responsibility for retirement saving, it's clear the pensions penny is finally beginning to drop for the UK's retirement savers.
"The range of radical government pension changes has certainly grabbed public attention and it's heartening to see people being motivated to engage with their future and meet the challenge of funding and planning for their retirement.
"The industry and government need to band together to ensure that consumer confusion doesn't creep back in. This means ensuring that new initiatives such as the Lifetime ISA (LISA) and the secondary annuity market are clearly articulated and don't detract from the progress auto enrolment, and pension freedoms have made."
More than half of BlackRock’s flagship UK defined contribution (DC) default fund’s assets will be invested in ESG strategies by June 2021.
Graeme Bold says the right communications can improve both the level of savings and the outcomes for savers.
More than half of UK savers agree they are unable to save sufficiently to achieve the retirement they want, according to research by BlackRock.
Pension savers have held off from making changes to their pensions despite nearly half having been impacted by the pandemic, research finds.