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This paper addresses the stability and H∞ performance problem for delayed nonlinear systems via Takagi-Sugeno (T-S) fuzzy approach. The time-varying delays are bounded and differentiable with upper bound of delay derivatives. Using an appropriate Lyapunov-Krasovskii functional (LKF), free-weighting matrices, and a new design methodology, sufficient conditions are established in terms of linear matrix inequalities (LMIs) to achieve the desired H∞ performance. These LMIs can be easily solved by standard numerical packages. Finally, numerical examples are presented to show the performances of the proposed method and the fact that it is less conservative than those previously mentioned.