In this paper, the robust trajectory tracking controller is proposed for a class of Takagi–Sugeno fuzzy Markovian jump time-varying delay systems with unknown uncertainties and disturbances. Precisely, uncertainty and disturbance estimation-based control design is developed for the addressed systems under uncertain environment. By exploiting the Lyapunov technique and Wirtinger-based integral inequalities, a sufficient condition is derived for ensuring the robust trajectory tracking performance. Precisely, an explicit form of the gain matrix to enhance the robustness of the controller is determined by solving the developed linear matrix inequalities. A single-link robot arm model is eventually provided to validate the potential of the designed control scheme.