Terry was recently acquitted of racially abusing Ferdinand during the same fixture last season, with Cole appearing as a character witness during the trial.
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Elsewhere for the visitors, youngster Ryan Bertrand has been selected in the left midfield role he occupied during the Blues' Champions League final victory over Bayern Munich last season, coming in at the expense of Juan Mata.
Gary Cahill is the man to lose his place in central defence following Terry's return but Roberto Di Matteo's team is otherwise unchanged from their defeat to Atletico Madrid.
Meanwhile, the hosts have named the same starting XI which lost out to champions Manchester City last week, bar the inclusion of debutant Julio Cesar at the expense of veteran goalkeeper Rob Green.
QPR: Cesar; Bosingwa, Nelsen, Ferdinand, Fabio; Park, Granero, Faurlin, Wright-Phillips; Johnson, Zamora.
Subs: Green, Cisse, Taarabt, Mackie, Onuoha, Dyer, Hoilett.
Chelsea: Cech; Ivanovic, Luiz, Terry, Cole; Mikel, Ramires, Lampard; Hazard, Torres, Bertrand.
Subs: Turnbull, Romeu, Oscar, Moses, Sturridge, Cahill, Azpilicueta.