Feedback control (based on the quantum continuous measurement) of quantum systems inevitably suffers from estimation delays. In this technical note we give a delay-dependent stability criterion for a wide class of nonlinear stochastic systems including quantum spin systems. We utilize a semi-algebraic problem approach to incorporate the structure of density matrices. To show the effectiveness of the result, we derive a globally stabilizing control law for a quantum spin-1/2 systems in the face of feedback delays.