Abstract: The decoupling problem for a class of nonlinear MIMO time-delay systems is studied with differential geometric method.The sufficient conditions that enable the system to be decoupled are discussed,and the input-output linearization conditions with the canonical form of this nonlinear time-delay system are presented.A nonlinear state feedback control law is designed to decouple the output from the delayed state variables and realize precise (linearization) between the output and input channels.Canonical form of the closed loop is given as well,which helps to realize further control aims conveniently.