The QPR employees were hurt when trying to remove a fan from the South Africa Road stand during the second half of last week's game at Loftus Road.
"This incident started with some pushing and shoving at the top of the stand. It quickly turned nasty as a large group of supporters and stewards fell and were forced backwards down the steep stairway that separates the stands," said chief superintendent Colin Morgan.
"It was made worse by some supporters who then chose to punch, push and kick at the stewards. It was pure luck that no-one was badly hurt. We will deal robustly with those responsible for disorder, whether inside or outside football venues, and we will bring them to court."
Police have identified the five men and are appealing for help from the public.