The survey also found that most respondents plan to work until they are 67 years old and expect to live to the age of 86, suggesting that they anticipate living off their retirement savings for less than 20 years.

Thirty-three percent of respondents said they feel completely prepared for retirement and another 51 percent feel at least moderately prepared.

Schwab-Pomerantz recommends that people who have a financial plan in place give it a second look to make sure they are on track to meet their goals.

"Especially for those looking to catch up on savings, we recommend maximizing contributions in a 401(k) at least up to the employer match, considering other tax-advantaged retirement accounts such as an IRA, and finding ways to automate savings," she said. "We're also having retirement planning discussions with an increasing number of clients who want to be more engaged in investing and how their money is managed."

Of those surveyed, 39 percent said they do not plan to work in retirement and 46 percent said they might work part-time whether they need to or not. Only 10 percent thought they would have to work at least part-time to make ends meet.

When asked how their confidence level has changed since last year, 23 percent said they felt more optimistic about being prepared for retirement while 24 percent were less optimistic and about 52 percent haven't changed their opinion. More than half of respondents expressed worry that they would have unexpected expenses in retirement, such as medical or health care costs.

Even with Medicare benefits, a 65-year-old couple could need nearly $400,000 to cover out-of-pocket healthcare costs during retirement, according to research by the Employee Benefit Research Institute, and it's widely accepted that those costs could rise significantly in the future, said Schwab-Pomerantz. "The bottom line for everyone is that healthcare costs need to be carefully factored into retirement plans."