The striker's contract had expired last season but has been rewarded with 12-month terms as he looks to prove his worth and stay fit ahead of his return to the Premier League
The striker was QPR's hero in May as he scored the decisive goal in the play-off final versus Derby County at Wembley to send Harry Redknapp's side back into the top flight at the first time of asking.
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"I'm over the moon," he told the club's official website. "I've had an up and down time at QPR. I started off really well but then picked up a couple of injuries and didn't perform as well as I wanted to.
"But at the end of last year, after coming back following injury, I thought whenever I was called upon to do a job, I did it well.
"I'm pleased to be fit again now with another chance to prove myself in the best league in the world.
"I still feel I've got something to prove to the fans – and I still think I've got it in me to do a great job, so I'm looking forward to doing that."
QPR begin their Premier League campaign with the visit of Hull City on August 16.