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The problem of delay-dependent robust Hinfin control for uncertain singular systems with time delay has been investigated. The considered systems are not assumed to be necessarily regular and impulse free. In terms of linear matrix inequality approach, a delay-dependent stability criterion is given to ensure the nominal system to be regular, impulse-free and stable. Based on the criterion, the problem is solved via state feedback controller, which guarantees that, for all admissible uncertainties, the closed-loop system is not only regular, impulse-free and stable, but also satisfies a prescribed Hinfin performance condition. Some numerical examples are provided to demonstrate the efficiency of the proposed methods.