This paper is concerned with a fuzzy sampled-data optimal control problem of nonlinear systems with time-varying delay by employing the input delay and free-weighting matrix approach.The Takagi-Sugeno(T-S) fuzzy system is used to represent the nonlinear systems, and the control input is a zero-order hold sampled-data signal.A linear matrix inequalities(LMIs)-based optimal control criterion is obtained, and a fuzzy sampled-data controller is designed for the system, which ensures that the optimal performance is achieved in the sense that the closed-loop system is asymptotically stable.A computer simulated truck-trailer system is given to illustrate the effectiveness of the fuzzy sampled-data control design.