In this paper, first, we give a definition of Besicovitch almost periodic functions by using the Bohr property and the Bochner property, respectively; study some basic properties of Besicovitch almost periodic functions, including composition theorem; and prove the equivalence of the Bohr definition and the Bochner definition. Then, using the contraction fixed point theorem, we study the existence and uniqueness of Besicovitch almost periodic solutions for a class of abstract semi-linear delay differential equations. Even if the equation we consider degenerates into ordinary differential equations, our result is new.