The 33-year-old struck in the last minute at Wembley against Derby County to fire 10-man QPR back to the Premier League following last season's relegation.
"It is a magnificent feeling," Zamora is quoted as saying by West London Sport. "I am over the moon for this set of lads – we've worked hard all year.
"It is a massive win and I am so pleased for all the lads and everybody. What a team spirit we have got now. We have shown great togetherness this season and in the playoff games we fought until the end."
Zamora revealed earlier this week that he was hopeful of signing a contract extension at the club.