Zamora scored the last-minute goal that earned Harry Redknapp's men a play-off final win over Derby in May, granting them an instant return to the top flight.
It had appeared he might not be going back to the Premier League with them, though, as an extension to his expired deal was not agreed.
He has now penned a 12-month contract, however.
"I'm over the moon," said Zamora after agreeing to stay with the club until the summer of 2015.
"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."
Zamora has made 59 appearances since joining QPR from Fulham, scoring 11 times, with his most recent goal valued at £100million.
Source : PA
Source: PA