This paper investigates the robust output feedback control problem for a class of time-delayed systems subject to bounded uncertainties, external disturbance, noise and control input nonlinearity. The designed controller ensures the occurrence of sliding manifold of the composite system and guarantees the system states globally converge to the sliding manifold. Moreover, the adaptive control law is not related to the time-delay. A modified version of the proposed control law is also derived for adapting the upper bounded of lumped uncertainties and perturbations. It is shown that the designed controller also possesses the property of insensitivity to uncertainties, disturbance and noise. A numerical simulation is given to verify the validity of the proposed controller.