In this paper, a piecewise continuous current estimator-based observer is proposed to estimate a plant's states using sampled and delayed measurements. The advantage of the proposed technique is simple in terms of analysis and design. Moreover, the proposed observer can compensate the time delay when the delay equals the sampling period. Comprehensive stability analysis of the designed observer is performed. In addition, to assess the efficiency and effectiveness of the proposed observer, a numerical comparative study with a Kalman filter-based observer is established and the simulation results are demonstrated.