This paper is concerned with robust guaranteed cost control for uncertain linear time-delay systems with state delay, input delay and quadratically constrained uncertainty using a linear matrix inequality (LMI) approach. The quadratically constrained uncertainty described in this paper is general in nature and takes some well-known uncertainty descriptions as special cases. We only consider the memoryless static state feedback in this paper. We show that feasibility of some LMIs guarantees the solvability of the corresponding robust guaranteed cost control problem.