This paper deals with a design of fault tolerant state feedback controllers for continuous time nonlinear time delay systems with actuator failures. The goal is to find an asymptotically stabilizing controller such that the closed loop system achieves the prescribed $H_{infty}$ performance objective in the actuator fault cases. Based on a sum of squares (SOS) approach, a design method for $H_{infty}$ fault tolerant controller is presented. In order to demonstrate our design method, a numerical example is provided.