We deal with the approximate controllability for semilinear systems with time delay in a Hilbert space. First, we show the existence and uniqueness of solutions of the given systems with the mere general Lipschitz continuity of nonlinear operator f from $R; imes;V$ to H. Thereafter, it is shown that the equivalence between the reachable set of the semilinear system and that of its corresponding linear system. Finally, we make a practical application of the conditions to the system with only discrete delay.