In this paper, an adaptive tracking control problem is addressed for a class of uncertain nonlinear systems with input delay and perturbations. To design the desired adaptive controller, Pade approximation approach is introduced to handle the problem from the input delay. In addition, to avoid the problem from “explosion of complexity” existing in the conventional backstepping design, a dynamic surface control method is presented by employing a nonlinear filter. Then, a new adaptive controller with a simple structure is established. Under the proposed controller, all the closed-loop signals remain semiglobally bounded, and especially the system output can follow the given reference signal asymptotically. Some simulations are given to verify the effectiveness of the proposed control scheme.