The 25-year-old, who has spent the last six months out with a knee injury, played the final 15 minutes in the club's 2-2 draw with Augsburg at the weekend.
"It felt great to be back. It's been a really tough six and a half months for me. It's been a long time, with a lot of hard work," he told the club's official website.
"The support I've had from my family; my wife; my teammates; everyone at the club - it has been amazing and it means so much to be back playing. I feel like I've come back to life.
"It was only 15 minutes but it meant the world to me. It gives me something to build on now and I can't wait for the season to start. I still need some more minutes over the next few weeks. I need to play some more football and then hopefully I'll be ready."
QPR open their Premier League campaign with a home match against Swansea City next weekend.