This paper is devoted to the problem of reliable control for interval time-varying delay systems subjected to actuator saturation and stochastic failure. A new practical actuator fault model is proposed by assuming that the actuator fault obeys a certain probabilistic distribution. An optimization problem with LMI constraints is formulated to determine the largest contractively invariant ellipsoid. Delay distribution and fault distribution-dependent estimations of the domain of attraction are obtained by using the LMI techniques and an optimization method, such that the mean-square stability of the systems can be guaranteed for given H∞ performance index γ. Two illustrative examples are exploited to show the effectiveness of the proposed design procedures. Copyright © 2011 John Wiley & Sons, Ltd.