A time discretization method for nonlinear time-delay systems is proposed in this paper. The proposed method is based on the matrix exponential method and includes the automatic correction of rounding errors. It is robust to ill-conditioned problems and suitable for any nonlinear system. In the proposed algorithm, each sampling time interval is divided into two subintervals to be considered separately according to the time delay and the sampling period. The performance of the proposed discretization procedure is evaluated by two case studies.