Conaway was the top vote recipient with 19,675 votes, followed by Singleton with 19,218 vote, Conley with 12,231 votes and Prisco with 11,943.
Conaway's win sends him back to Trenton for a 10th term. Singleton returns for his third term.
"We are obviously grateful for the trust the residents continue to place in us," Singleton said Tuesday night after the votes were counted. "The resounding plurality means a lot and we look forward to continuing to work on behalf of the district's residents."
"We're anxious to get back to working for the people of Burlington County and the 7th District in particular," Conaway said. "We have a number of challenges ahead. But it's gratifying to once again have (residents) place their trust in us."
The victories weren't particularly surprising as the two Democrats were heavily favored in the all-Burlington County legislative district, which includes most of the riverfront towns plus Willingboro, Moorestown and Mount Laurel.
In the other legislative races within the county, Republican Assemblywoman Maria Rodriguez-Gregg was re-elected to a second term representing the 8th Legislative District. She will be joined by her GOP running mate, former Burlington County Freeholder Joe Howarth.
Rodriguez-Gregg and Howarth ran uncontested for the district's two Assembly seats.
Incumbent Assembly members also scored easy victories in the 6th, 9th and 12th Districts.
In the 6th District, incumbent Democrats Lou Greenwald and Pam Lampitt overcame Republican challengers Claire Gustafson and Holly Tate, and Green Party candidates James Bracciante and Amanda Davis.
In the 9th District, Republican incumbents Brian Rumpf and DiAnne Gove won re-election over Democrats John Bingham and Fran Zimmer.
In the 12th District, Republican incumbents Ronald Dancer and Robert D. Clifton successfully defended their seats against Democrats Robert Kurzydlowski and David Merwin, and Green Party candidate Stephen Zelinski.
Entering election night, Democrats held a 47-31 majority with two vacancies. Although all 80 seats were up for grabs, control of the lower chamber wasn't realistically at risk as most of the incumbent legislators were considered big favorites.
The most competitive Assembly contests were outside of Burlington County in the 1st, 2nd, 11th and 16th Districts.
As of press time, The Associated Press had declared incumbent Democrat Bob Andrzejczak and his running mate Bruce Land the winners of the 1st District race over Republican incumbent Sam Fiocchi and his running mate Jim Sauro.
The other races were still too close to call.