This paper is concerned with event-triggered H∞ control for a class of nonlinear networked control systems. An event-triggered transmission scheme is introduced to select ‘necessary’ sampled data packets to be transmitted so that precious communication resources can be saved significantly. Under the event-triggered transmission scheme, the closed-loop system is modeled as a system with an interval time-varying delay. Two novel integral inequalities are established to provide a tight estimation on the derivative of the Lyapunov–Krasovskii functional. As a result, a novel sufficient condition on the existence of desired event-triggered H∞ controllers is derived in terms of solutions to a set of linear matrix inequalities. No parameters need to be tuned when controllers are designed. The proposed method is then applied to the robust stabilization of a class of nonlinear networked control systems, and some linear matrix inequality-based conditions are formulated to design both event-triggered and time-triggered H∞ controllers. Finally, two numerical examples are given to demonstrate the effectiveness of the proposed method.