The 32-year-old was forced to miss the majority of the last campaign due to a hip injury.
"I feel really good, so much better than last season," Zamora is quoted as saying by Sky Sports News. "The rest and work I did over the summer seem to have worked so far.
"I've got a programme and some bits and pieces that I'm doing to keep on top of things. I'll continue with those and hopefully I'll have an injury-free season."
QPR start their Championship campaign at home to Sheffield Wednesday on August 3.