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This paper revisits the problem of delay-dependent robust Hinfin filtering design for a class of continuous-time polytopic linear systems with a time-varying state delay. Based on a delay and parameter-dependent Lyapunov-Krasovskii functional combined with Projection Lemma, a new sufficient condition for robust Hinfin performance analysis is firstly derived and then the filter synthesis is developed by using a novel matrix linearization technique. It is shown that the desired filters can be constructed by solving a set of linear matrix inequalities. Finally, a numerical example is given to show the effectiveness and less conservatism of the proposed method in comparison with the existing approaches.