In this paper, a partial tracking error constrained fuzzy output-feedback dynamic surface control (DSC) scheme is proposed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems. The considered MIMO nonlinear systems contain unknown functions and without the requirement of their states being available for the controller design. With the help of fuzzy logic systems identifying the MIMO unknown nonlinear systems, a fuzzy adaptive observer is established to estimate the unmeasured states. By transforming the tracking errors into new virtual error variables and based on the DSC backstepping recursive design technique, a new adaptive fuzzy output-feedback control method is developed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are bounded and the partial state tracking errors are confined all times within the prescribed bounds. The simulation results and comparisons with the previous control approaches confirm the effectiveness and utility of the proposed scheme.