This paper presents a state feedback $H^{infty}$ controller design method for linear systems with delayed states and inputs. We derive a sufficient condition that the closed-loop system is asymptotically stable for all time-delays and that the $H^{infty}$-norm of the closed-loop transfer function is less than or equal to some prescribed level $gamma$. And we propose a sufficient condition for the existence of a state feedback $H^{infty}$ controller using a form of linear matrix inequality(LMI). Furthermore, we show that the state feedback $H^{infty}$ controllers can be obtained from solutions satisfying LMI.