This paper studies the consensus problem of networked underactuated Euler-Lagrange (EL) systems with communication delays based on energyshaping scheme. By using damping injection and interconnection assignment of passivitybased control (PBC) techniques, a simple distributed protocol in underactuated EL networks with the directed connected topology is proposed to achieve consensus in both leaderless and leaderfollower cases. The key feature of the proposed energyshaping scheme are to systematical integration of the energy of the actuated and underactuated parts of the system, as well as the controller for the whole system energy, which is utilized as a suitable Lyapunov function that can fully ensure the networked underactuated EL systems achieve the desired consensus. Finally, numerical simulations of the flexiblejoint manipulator systems described by the underactuated EL systems are performed to analyze the effect of communication delays on the consensus, and to verify the correctness of the proposed control algorithms.