This paper presents delay-dependent conditions for the solvability of the output regulation problem of time delay systems. Based on internal model approach, two classes of controller structures are studied, namely, state feedback and dynamic output feedback schemes. First, delay-dependent sufficient conditions for the stabilization of time delay systems are presented by a linearization technique under the state feedback control. A new proof of testified necessary and sufficient conditions for checking the solvability of output regulation problems is provided. Second, a dynamic compensator is designed by the output information and constructed by a delay-dependent condition. A numerical example is finally provided to validate the proposed method.