Delay is a critical parameter used to assess the performance of signalised intersections. Non-deterministic arrival and departure rates of vehicles at intersectionseffect the determination of delay. Furthermore, driver behaviour, vehicle characteristics, and type of signal control system at intersectionwere also influencing parameters. Previous literature has offered analytical and empirical models to estimate the average delay using hourly traffic flow data and a fixed cycle time. In India, major signalised intersections on urban arterial roads are controlled with vehicle actuated controlled system. In the present study, Simpson’sone third rule was applied to estimate the overall delay by using arrival rate and departure rate of vehicles in everycycle. In addition, the current studydevelopedregression-based delay model and modified the Indo-HCM model by changing incremental delay term in themodels. Thisensuredaccurateestimation of the delays at signalised intersections in both the VAC and fixed signal control systems. The proposed modelswere statistically significant, with R2values of 0.89 and 0.51, respectively.