This study proposes a novel predictive control compensation method to deal with random time-delay in networked control system. Different from other compensation strategies, this study adopts different compensation strategies for input time-delay and output time-delay to improve the control effect. First, for the input channel time-delay, the corresponding buffer is set by the time-stamp in the packet. Combining the historical output value and the control variable, the fast implicit generalized predictive control algorithm is adopted to design the predictive controller to compensate for the input channel time-delay. Second, for the output channel time-delay, the controller cannot measure it. A control compensator is designed by adding a feedback loop. The output control variable of the predictive controller is adjusted by predicting the error between the actual control signal and the controller output at the historical sampling time, so as to compensate for the time-delay of the output channel. In addition, the stability of the proposed time-delay compensation method is analyzed. Finally, simulation and experimental results show that the proposed method has good control and compensation effect, and improves the output performance of the system. The networked control system with random time-delay is stable. Furthermore, the simulation results also show that this time-delay compensation method needs less computing time and is more suitable for the practical applications.