The problem of robust fuzzy control for a class of nonlinear fuzzy impulsive stochastic systems with time-varying delays is investigated. The nonlinear delay system is represented by the well-known T-S fuzzy model. The so-called parallel distributed compensation idea is employed to design the state feedback controller. Sufficient conditions for mean square exponential stability of the closed-loop system are derived in terms of linear matrix inequalities. Finally, a numerical example is given to illustrate the applicability of the theoretical results.