This paper considers sampled-data control of bilateral teleoperation systems in the presence of time-varying delay. The assumptions on continuous-time position/force signal transmission are removed and the proposed control strategy is more realistic. By constructing a novel delay-dependent Lyapunov functional, the relationship is established among the control parameters, the delay bounds and the upper bounds of the sampling periods. The tracking performance can be achieved with the designed controller. Simulations and experiments are both provided to verify the effectiveness and benefits of the proposed approach.