This paper presents a new result of stability analysis for continuous systems with two different time-varying delay components, new delay-dependent asymptotic stability criterion of continuous systems is proposed by exploiting an improved Lyapunov-Krasovskii functional candidate and an improved approximation method without resorting to any model transformation and free weighting matrix technique. This new criteria has advantages over some previous ones in that it involves few matrix variables and has less computational effort and conservatism. This criterion is expressed by a set of linear matrix inequalities, which can be tested by using the LMI toolbox in Matlab. Finally, illustrative example demonstrates the effectiveness and the advantage of the proposed method.