This paper focuses on the problem of robust H_∞ filtering for a class of nonlinear uncertain singular systems with time-varying delay. First of all, the dermition of robust H_∞ filter is given. Considering the nonlinear disturbance link to uncertain singular systems with time-varying delay effects, we come up with the design idea of full order robust H_∞ filter based on the Lyapunov stability theory. Under the condition that nonlinear uncertain functions satisfy Lipschitz condition, using Lyapunov stability theory and linear matrix inequality (LMI) methods, a sufficient condition of such nonlinear uncertain delayed filtering error singular systems which are asymptotically stable and satisfy the robust H_∞ performance is obtained. Finally, two numerical examples are given to show the applicability of the proposed method.