The Nigerian international will make the switch to Loftus Road until the end of the season, and becomes Mark Hughes’ first signing since taking charge of the London club
The 26-year-old, who can operate at both left-back and the left side of midfield, becomes Mark Hughes’ first signing since he replaced Neil Warnock as manager in earlier this month.
The Nigeria international has made the switch to Loftus Road following a difficult six months in Serie A, which has seen him make only four league starts.
“I have known of him a long time and admired him from afar,” Hughes told the club’s official website.
“To get him now is a fantastic coup and a real statement of intent that we can attract the quality of player that he is. I am looking forward to working with him.
“He has got great ability, a good reputation in the game and a great personality.
“He plays with a smile on his face and I think QPR fans are going to enjoy seeing him playing for us.”
Taiwo was delighted to join Loftus Road and is adamant he wishes to return the confidence shown in him by Hughes..
He said: “I can’t wait to play for the club.
“It’s a new and exciting challenge for me and one I am very much looking forward to.
“I’m very grateful to Mark Hughes for bringing me here. It is always nice for a player when you know the manager wants you and I will repay his faith in me.
“I know only hard work, good performance, dedication and passion will connect me with the fans but I’m prepared.
“I’m looking forward to what lies ahead and I’m prepared to give my all to the QPR cause.”