The problem of adaptive robust $H_{infty}$ control for uncertain systems with multiple delays is considered in this paper. The essential requirement for the uncertainties is that they satisfy matching conditions and are norm-bounded, but the bounds are not necessarily known. The objective is to design adaptive robust $H_{infty}$ state-feedback controller such that the resulting closed-loop system is asymptotically stable and a prescribed $H_{infty}$ performance level of the closed loop system for disturbance attenuation is guaranteed. To solve this problem, a new sufficient condition is presented in terms of a linear matrix inequality (LMI). The effectiveness of proposed method is verified by its application to an unstable system.