In this paper, the problem of robust stability for uncertain linear systems with time-varying delay and non-linear perturbations is investigated. The systems possess both nonlinear perturbations and norm-bounded uncertainties. Based on the Lyapunov-Krasovskii functional approach and S procedure, a new delay-dependent stability criterion is presented, which is in terms of linear matrix inequalities. A numerical example is given to illustrate the effectiveness of the developed techniques.