Background: Failure time data occur frequently in many medical studies and often accompany with various types of censoring. In some applications, left truncation may occur and can induce biased sampling, which makes the practical data analysis become more complicated. The existing analysis methods for left-truncated data has some limitations in that they either focus only on a special type of censored data or fail to flexibly utilize the distribution information of the truncation times for inference. Therefore, it is essential to develop an reliable and efficient method for the analysis left-truncated failure time data with various types of censoring. Method: This paper concerns regression analysis of left-truncated failure time data with the proportional hazards model under various types of censoring mechanism, including right censoring, interval censoring and a mixture of them. The proposed pairwise pseudo-likelihood estimation method is essentially built on a combination of the conditional likelihood and the pairwise likelihood that eliminates the nuisance truncation distribution function or avoids its estimation. To implement the presented method, a flexible EM algorithm is developed by utilizing the idea of self-consistent estimating equation. A main feature of the algorithm is that it involves closed-form estimators of the large-dimensional nuisance parameters and is thus computationally stable and reliable. In addition, an R package LTsurv is developed. Results: The numerical results obtained from extensive simulation studies suggest that the proposed pairwise pseudo-likelihood method performs reasonably well in practical situations and is obviously more efficient than the conditional likelihood approach as expected. The analysis results of the MHCPS data with the proposed pairwise pseudo-likelihood method indicate that males have significantly higher risk of losing active life than females. In contrast, the conditional likelihood method recognizes this effect as non-significant, which is because the conditional likelihood method often loses some estimation efficiency compared with the proposed method. Conclusions: The proposed method provides a general and helpful tool to conduct the Cox’s regression analysis of left-truncated failure time data under various types of censoring.