This article considers the consensus problem of multiple Euler–Lagrange systems subject to unavailable velocity information and limited communication resources. First, a new event-triggered communication scheme, based on designing a virtual system for each agent, is proposed to achieve the coordination task without velocity information. The event-triggering conditions only rely on the states of virtual systems and allow agents to transmit virtual states only at some discrete time instants. Under the proposed strategy, the control objective can be accomplished with lower communication and measurement costs. Second, we consider the time delay effects in each information channel with event-triggered communication. For the proposed event-triggered scheme, the Zeno triggering is excluded. Finally, two simulation examples with six two-linked robot manipulator arms are given to demonstrate the effectiveness of the proposed scheme.