In this paper, the multi-state synchronization of chaotic systems with non-identical, unknown, and time-varying delay in the presence of external perturbations and parametric uncertainties was studied. The presence of unknown delays, unknown bounds of disturbance and uncertainty, as well as changes in system parameters complicate the determination of control function and synchronization. During a synchronization scheme using a robust-adaptive control procedure with the help of the Lyapunov stability theorem, the errors converged to zero, and the updating rules were set to estimate the system parameters and delays. To investigate the performance of the proposed design, simulations have been carried out on two Chen hyper-chaotic systems as the slave and one Chua hyper-chaotic system as the master. Our results showed that the proposed controller outperformed the state-of-the-art techniques in terms of convergence speed of synchronization, parameter estimation, and delay estimation processes. The parameters and time delays were achieved with appropriate approximation. Finally, secure communication was realized with a chaotic masking method, and our results revealed the effectiveness of the proposed method in secure telecommunications.