The 31-year-old striker on Tuesday ended speculation linking him with a move away from Fulham by joining the club's west London rivals.
After signing a two-and-a-half-year deal, Zamora explained his reason for joining, and told the club's official website, www.qpr.co.uk: "The ambition of the club was certainly a drawing factor as well [as reuniting with former Fulham manager Mark Hughes]."
He added: "I've been lucky enough to speak to Tony [Fernandes, QPR's chairman] and Phil [Beard, QPR's chief executive] has relayed a lot of messages about where this club want to go.
"For me, it was quite an easy decision to be a part of this.
"The sky's the limit. We're looking to go forward and to grow and I want to be a part of that."
Zamora has cost an initial £4.5million, which will rise depending on performance and will wear the number 52 shirt at the Hoops.
"QPR are certainly a club that are looking to go forward," he added. "That's something that I'm looking forward to being a part of.
"I got on really well with the manager at Fulham. We all grew to like Mark. I think that will be the case here. He's looking to take the club forward.
"I think this was the right time for me to have a fresh challenge. I had some great experiences at Fulham. Going to a European final is special. But this is a new challenge for myself and I'm thoroughly looking forward to it."
Source: PA
Source: PA