This paper analyzes the robust control problems for a class of uncertain Takagi-Sugeno (T-S) fuzzy systems with time varying delays. T-S fuzzy models are employed to represent uncertain delayed nonlinear systems. A Parallel Distributed Compensation (PDC) control law, including both memoryless and delayed state feedback, is considered for stabilization purpose. Based on the choice of a convenient Lyapunov- Krasovskii Functional (LKF) and introducing free weighting matrices, sufficient delay-dependent controller design condi- tons are derived in terms of linear matrix inequality (LMI). Finally, a numerical example is presented to demonstrate the effectiveness of the proposed approach and the conservatism improvement regarding to previous results.