Waddock had been workng as John Gregory's assistant since Gregory took over the managers job from Waddock.
The statement on www.qpr.co.uk reads
Queens Park Rangers Football Club have parted company with Gary Waddock.
Waddock was named as manager on June 28 after a spell as caretaker manager following the departure of Ian Holloway.
The former Rangers midfielder moved into a coaching role when John Gregory was then appointed at the end of last month.
QPR would like to thank Gary and wish him every success in the future.