<p>In this paper, the fault estimation and fault-tolerant control problem is investigated for unknown nonlinear Euler–Lagrange systems subject to quantization effects. The quantization effects caused by limited network bandwidth make the estimation of nonlinear systems particularly challenging. The proposed fault estimation and fault-tolerant control framework assumes only the boundedness of the inertia matrix, is robust to unknown disturbances and unmodelled dynamics, and is capable of handling actuator faults including bias faults and actuator effectiveness loss. The core principle of the proposed approach lies in the utilization of a time-delayed technique, where the measurement information obtained at the previous time instant is systematically incorporated to estimate all unknown factors of the system at the current time instant. With the aid of the augmentation approach, a fault estimator is designed to observe fault information. Based on the estimated fault information, a fault-tolerant controller is designed to compensate for the fault impact. Finally, the effectiveness of the proposed method in the design of state-fault estimator and fault-tolerant controller is verified by simulation results.</p>