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PID control schemes based on classical control theory, have been widely used for real control systems. Further, there are a lot of researches on control schemes of tuning PID gains. Also several self-tuning and autotuning techniques in the PID control systems have been reported for systems with unknown parameters. However, to the best of our knowledge, there is no result for discrete-time systems with unknown time-delays. On the other hand, a generalized predictive control scheme has been reported as a useful self-tuning control technique for unknown time-delay systems. In this paper, we present a self-tuning PID control algorithm for unknown time-delay systems based on minimization of a GPC criterion. Furthermore, we illustrate a numerical simulation result in order to show the effectiveness of this method.