This paper studies the problem of delay-dependent robust H∞ control for singular systems with multiple delays. Based on a Lyapunov–Krasovskii functional approach, an improved delay-dependent bounded real lemma (BRL) for singular time-delay systems is established without using any of the model transformations and bounding techniques on the cross product terms. Then, by applying the obtained BRL, a delay-dependent condition for the existence of a robust state feedback controller, which guarantees that the closed-loop system is regular, impulse free, robustly stable and satisfies a prescribed H∞ performance index, is proposed in terms of a nonlinear matrix inequality. The explicit expression for the H∞ controller is designed by using linear matrix inequalities and the cone complementarity iterative linearization algorithm. Numerical examples are also given to illustrate the effectiveness of the proposed method.