QPR were on their way out of the competition until an 89th minute equaliser from substitute Heidar Helguson gave Warnock's men a lifeline.
The leveller was made even more special by the fact that QPR were down to ten men, having had a player stretchered off after all three subs had been made, and Warnock believes that the result could prove to be a turning point in their season.
"All credit to the boys, they kept going and I am delighted to be in the hat, especially as it means captain Joey will be back for the Wigan game, which is more important really," said Warnock.
"People talk about did we want a replay, well yeah we did. At 1-0 down with ten men and going into the last few minutes it's a great result for us. It could be the turning point of the season.
"You need a bit of luck in the FA Cup, all the big teams do. The early rounds in the FA Cup are the most difficult from what I've been involved with. It was a glue-pot of a pitch and we came out a lot more positive in the second half. We had a couple of great chances. If we had gone in front we would have won the game."
The replay will count as another game of Joey Barton's suspension, meaning the midfielder will now only miss one Premier League game.