A single channel adaptive noise canceling (ANC) technique with a recursive time delay estimator (RTDE) is presented for removing effects of additive noise on the speech signal. While the conventional method makes a reference signal for the adaptive filter using the pitch estimated on a frame basis from the input speech, the proposed method makes the reference signal using the delay estimated recursively on a sample-by-sample basis. As the RTDEs, the recursion formulae of autocorrelation function (ACF) and average magnitude difference function (AMDF) are derived. The normalized least mean square (NLMS) and recursive least square (RLS) algorithms are applied for adaptation of filter coefficients. Experimental results with noisy speech demonstrate that the proposed method improves the perceived speech quality as well as the signal-to-noise ratio and cepstral distance when compared with the conventional method.