The robust H∞ fault estimation problem for a class of LPV plants which depend affinely on a vector of time-varying parameters has been studied in this paper. Based on the gain scheduling techniques, a new method for the design of a robust H∞ fault estimator is developed. The resulting LPV estimator has the same parameter dependence as the plants, and can be characterized via a set of linear matrix inequalities (LMIs). To demonstrate the proposed method, a numerical example is considered. Simulation results show that the designed LPV fault estimator is effective for a class of LPV plants.