A robust H_∞ approach to filtering for continuous-time linear uncertain systems with time-delayed measurement is investigated. The filters such that the filtering process remains robustly stable and the transfer function from the disturbance inputs to error state outputs meets the prescribed H_∞-norm upper-bound constraints can be derived and obtained by solving two Riccati equations based on the lemma of robust stability for control system with delay, and the resulting filters are parameterized.