Also, near-retirees are less optimistic about their future financial security than those who have already retired. According to the study, only 67 percent of those nearing retirement say they feel optimistic about their financial security during retirement, compared to 79 percent of recent retirees.

Not surprisingly, individuals who have saved up to $500,000 or more in retirement savings view retirement much more positively than those who have saved less than that.

Those with more than half-a-million dollars also feel more prepared to handle rising health care costs and are less likely to have to work during their retirement.

The study found that 54 percent of pre-retirees with less than $500,000 saved up are concerned about having enough money to last through retirement, compared to 35 percent of pre-retirees who have more than $500,000 saved.

Nearly 40 percent of those who have recently retired and have less than $500,000 saved up are concerned about their money lasting through retirement, compared to 20 percent who have more than $500,000 saved up.

Forty percent of retirees said they didn't begin planning for their retirement until they were within 10 years of it.

The study found that nearly two-thirds of recent retirees work with a financial advisor and of those recent retirees that do, 61 percent established their advisor relationship before retiring, up from 52 percent in 2005. Of those who selected an advisor before retiring, 84 percent remained with that advisor after retiring in 2012, up from 76 percent in 2005.