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We study in detail the extension of the generalized conformal symmetry proposed previously for D-particles to the case of supersymmetric Yang-Mills matrix models of Dp-branes for arbitrary p. It is demonstrated that such a symmetry indeed exists both in the Yang-Mills theory and in the corresponding supergravity backgrounds produced by Dp-branes. On the Yang-Mills side, we derive the field-dependent special conformal transformations for the collective coordinates of Dp-branes in the one-loop approximation, and show that they coincide with the transformations on the supergravity side. These transformations are powerful in restricting the forms of the effective actions of probe Dbranes in the fixed backgrounds of source D-branes. Furthermore, our formalism enables us to extend the concept of (generalized) conformal symmetry to arbitrary configurations of D-branes, which can still be used to restrict the dynamics of D-branes. For such general configurations, however, it cannot be endowed a simple classical space-time interpretation at least in the static gauge adopted in the present formulation of D-branes.