The output-feedback stabilization control method is proposed for a class of uncertain nonholonomic systems involving time-varying delay. To facilitate the feedback design, by applying discontinuous input-state transformation and rescaling transformation, the original investigated model is transformed into a new system. Based on this new system, a state-feedback controller is developed firstly. Then, by designing the state observer and using the certainty equivalence principle, an output-feedback control law is given. The analysis shows that the designed controller can realized that the closed-loop system’s state asymptotically converges to zero. A simulation example is given to show the effectiveness of the control algorithm.