This article investigates the tracking control problem of heterogeneous multiagent systems (MASs) with intrinsic nonlinear dynamics in noisy and time-delayed environments. First, a stability criterion for nonlinear stochastic delay systems with multiplicative noise and time-varying delay is proposed by applying the appropriate Lyapunov-Krasovskii functional. Then, based on the proposed stability criterion, sufficient conditions are derived for mean square (m.s.) and almost sure (a.s.) tracking of heterogeneous MASs with intrinsic nonlinear dynamics. Afterward, the above sufficient conditions further degenerate to integrator heterogeneous MASs. In particular, when the time-delay vanishes, the explicit conditions are obtained for the integrator heterogeneous MASs in the form of scalar inequalities, which can intuitively reflect the relationship between noise intensity and control gains. Finally, simulation results validate the effectiveness of the proposed control protocol.