In this paper, we analyze the problem of consensus control in chaotic multi-agent systems with communication delays. Each agent is considered to access not only its own information but also the information of neighbors with time delays. This is different to the literature where there is only delay in the information received from the neighbors. Using the truncated predictor feedback approach (TPF) and several lemmas, a linear matrix inequality (LMI), and a Lyapunov function, a consensus control protocol has been derived to ensure synchronization of agents. Our results have also been verified by several simulations demonstrating the capabilities of our control protocol in ensuring the consensus of agents.