Summary: This paper introduces a full-order dynamic output-feedback (DOF) controller for discrete-time nonlinear systems with time-varying delays represented by linear parameter-varying (LPV) systems. The controller design is carried out by developing delay-dependent linear matrix inequality based conditions using Lyapunov-Krasovskii stability arguments. A notable characteristic of the proposed approach is that the dynamic controller gains are directly obtained, without the need for variable transformations, equality constraints, or iterative algorithms. This feature sets it apart from many existing approaches in the literature and simplifies the design process. Furthermore, the proposed approach guarantees the local asymptotic stability of the origin of the closed-loop system and provides an estimated admissible initial condition region. The correct operation of the system is ensured once the state trajectories initiated within the admissible initial condition region remain enclosed in the validity domain of the LPV model. Numerical examples are provided to illustrate the potential and effectiveness of the proposed conditions.