An audit has found that the agency that oversees development in Boston has failed to collect millions of dollars in lease payments and fees owed by developers.

The audit of the Boston Redevelopment Authority described an agency incapable of performing basic functions, such as tracking payments, collecting rents on public property, and enforcing agreements with developers to improve roads and parks in exchange for approval of their projects.

The BRA has controlled building projects in the city since the 1950s.

The review was ordered by Mayor Martin Walsh, who said he was shocked to learn the agency keeps most of its records on paper and has not collected huge sums of money because it does not have a centralized system for monitoring contracts.

Walsh plans a restructuring of the agency.