Zamora, who is now contracted to Loftus Road until the end of the 2014-15 campaign, joined the R's from Fulham back in 2012.
"I'm over the moon," Zamora told the club's official website. "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. I'm pleased to be fit again now with another chance to prove myself in the best league in the world."
Zamora sent QPR back into the top flight with his late winning goal against Derby County in the Championship playoff final in May.