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This paper investigates the problem of delay-dependent robust Hinfin filtering for uncertain linear systems with time-varying delay. Given a stable system with parameter uncertainties residing in a polytope with s vertices, the focus is on designing a robust Hinfin filter such that the filtering error system is robustly asymptotically stable with a prescribed Hinfin noise attenuation level. The main technique used is the free-weighting matrix method by considering the additional useful terms. As a result, an improved linear matrix inequality-based delay-dependent stability criterion is obtained, which is less conservative. Finally, two examples have been presented to illustrate the effectiveness of the proposed methodology.