Heterogeneous networks are an attractive means of improving the network capacity. Heterogeneous network are typically composed of multiple radio access points (macro, pico and femto) where the base stations are transmitting with variable power. In this study, we consider the uplink of heterogeneous networks, where each terminal can simultaneously connected to multiple radio access points and requests delay-sensitive traffic (e.g., real-time video). We adopt the framework of Hou, Borkar,and Kumar, and study the delay in heterogeneous networks and analyze the multiaccess transmission delay by considering three extreme scheduling schemes. Moreover, a parallel-aggregation multiple radio access points (PA-MRA) algorithm for packet scheduling is presented to improve the transmission delay in heterogeneous networks. Analysis and numerical results show that the proposed algorithm obtains the optimal and robust transmission delay gain compared with the three extreme scheduling policies.