<p>This article proposes the development, evaluation, and experimental validation of a novel finite-frequency dynamic output time delay feedback controller (FFDOFC) dedicated to chatter mitigation in turning. A unique feature of the reported controller lies in that it achieves the finite-frequency band optimal control of chatter through displacement-only measurement, while concurrently accounting for actuator output limitations. Therefore, the designer can suppress the specified chatter frequency according to actual requirements. A delay-dependent dynamic output feedback control method is proposed to address delayed feedback effect from cutting force. The generalized Kalman-Yakubovich-Popov (GKYP) lemma is utilized to generate vibration reshaping and suppress chatter frequency. Delay-dependent Lyapunov–Krasovskii functional (LKF) approach is adopted to address the time delay without any approximation and derive the corresponding linear matrix inequalities (LMIs). Furthermore, these LMIs are applied to synthesize FFDOFC to mitigate chatter. The effectiveness of the controller is validated by performing both simulation and experimental tests, the machining efficiency can be increased by 1.37 times in comparison to the commonly used method. Results indicate that the developed controller exhibits the advantages of large chatter-free region, small tool-tip vibration during stable cutting processes, and easy implementation.</p>