This paper proposes an adaptive fuzzy PID control for a class of multi-input multi-output disturbed nonlinear systems with unknown dynamics and unknown dead-zone inputs’ nonlinearities. Within this scheme, a fuzzy system is used in order to approximate the PID gains instantaneously according to whole control system objective. Specifically, a gradient descent algorithm is used to update online the fuzzy system parameters such that the error between the fuzzy PID control and the unknown ideal control converges to an adjustable region. The control design and the stability analysis of the closed-loop system are given by the Lyapunov approach. The effectiveness of the proposed controller is highlighted by simulated examples.