The France international exchanged passes with Sammy Ameobi before firing home in the second half to give Alan Pardew's in-form side their sixth win on the bounce
The France international - skippering the side in place of injured Fabricio Coloccini - played a clever one-two with Sammy Ameobi before steering a 78th-minute strike home as Newcastle recorded a fifth straight Premier League victory for the first time since April 2012.
QPR had seemed on their way to a first away point of the season, as Harry Redknapp's side stood firm for much of the game under plenty of Newcastle pressure.
|VIEW FROM ST JAMES' PARK|
|By Graeme Bailey
It's top five time for Newcastle United as they made it five Premier League wins in a row with a 1-0 win over now-bottom QPR.
Harry Redknapp's side had looked on course for their first away point of the season, but it was a touch of class that won the day for Newcastle as Moussa Sissoko - captain for the day - controlled and turned to fire past Rob Green with 12-minutes left.
The win pushes the hosts firmly into European contention whilst QPR's form continues to push them back towards the Championship.
However, Sissoko was the man to lift spirits around St James' Park on what would have been a frustrating day, scoring his first Premier League goal of the season.
Another three points for Newcastle move them up to fourth, while QPR slip back to the foot of the table thanks to Burnley's surprise 2-1 win at Stoke City.
Rob Green’s sloppy clearance almost deflected off Jack Colback and in for Newcastle after six minutes during a keenly contested opening period.
And Pardew, who brought in Taylor and Mike Williamson for injured pair Mehdi Abeid and Coloccini, saw his side continue to threaten with Remy Cabella having Newcastle's first shot on target.
The Frenchman's tame effort was easily saved, though, before Charlie Austin muscled Paul Dummett off the ball and fired wide on a rare foray forward from QPR.
Taylor tested Green with two long-range strikes while Massadio Haidara's effort was blocked well by Richard Dunne before Taylor’s involvement was cruelly cut short.
The former Wigan Athletic man limped off visibly upset having appearing to hurt his right knee, dampening the hosts' mood after what had been a largely positive half for the hosts.
Matters were almost made worse for Pardew when Dunne's looping header needed tipping over by Tim Krul shortly before the interval.
Newcastle began the second half in positive fashion, continuing to deliver dangerous crosses, although QPR were able to deal with the aerial threat well.
Joey Barton - making his return to St James' Park for the first time since leaving Newcastle in 2011- almost found Austin with a lofted ball before Redknapp saw close-season signing Sandro collide with team-mate Yun Suk-young.
The Brazilian also made his return to action recently following a long-term knee injury but, like Taylor, was forced off.
Pardew's injury concerns were heightened further when full-back Daryl Janmaat was forced off late on, but skipper Sissoko ensured yet another win when he rounded off a slick move.