This paper studies the guaranteed cost control problem for a class of uncertain stochastic nonlinear systems with multiple time delays represented by the Takagi–Sugeno fuzzy model with uncertain parameters. By constructing a new stochastic Lyapunov–Krasovskii functional, sufficient conditions for delay-dependent guaranteed cost control are obtained which do not require system transformation or relaxation matrices. Conditions for the existence of an optimal guaranteed cost controller are presented in the linear matrix inequality format. Simulation examples are provided to demonstrate the effectiveness of the proposed approach in this paper.