Techniques are provided for estimating optimal atrioventricular pacing delay values for use in pacing the ventricles based on features of an intracardiac electrogram (IEGM) signal. Briefly, atrioventricular pacing delay pacing values are set based upon the location of atrial repolarization events within the IEGM. In one example, the end of an atrial repolarization is identified, then the interval from the atrial depolarization to the end of the atrial repolarization is measured. The atrioventricular pacing delay is then set by subtracting an offset value from that interval so as to time delivery of V-pulses prior the end of atrial repolarization. In this manner, atrioventricular pacing delay values are set based only IEGM signals and hence can be set to optimal/preferred values by the device itself without requiring surface electrocardiogram (EKG) signals and Doppler echocardiography or other cardiac performance monitoring techniques.