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In this study, time-delayed stochastic dynamical systems of linear and nonlinear equations are discussed. The existence and uniqueness of the stochastic semilinear time-delay system in finite dimensional space is investigated. Introducing the delay Gramian matrix, we establish some sufficient and necessary conditions for the relative approximate controllability of time-delayed linear stochastic dynamical systems. In addition, by applying the Banach fixed point theorem, we establish some sufficient relative approximate controllability conditions for semilinear time-delayed stochastic differential systems. Finally, concrete examples are given to illustrate the main results.