We present the first (to our knowledge) exact dispersion relation for the transverse-magnetic surface plasmon polariton (SPP) modes of a plasmonic slot waveguide, which is formed by a nonlinear Kerr medium sandwiched between two metallic slabs. The obtained relation is then simplified to the case of small field intensities, while retaining nonlinear terms, to derive approximate dispersion equations for the symmetric and antisymmetric SPP modes.