This paper proposes a new condition about delay-dependent robust $H_{infty}$ control of uncertain linear systems with time-varying delay and randomly occurring disturbances. The norm bounded uncertainties are subjected to the system matrices. Based on Lyapunov stability theory, a sufficient condition for designing a controller gain such that the closed-loop systems are asymptotically stable with $H_{infty}$ disturbance level ${gamma}$ is formulated in terms of linear matrix inequalities (LMIs). Finally, two numerical examples are included to show the effectiveness of the presented method.