The 29-year-old has joined the R's on a free transfer after he was released by Chelsea.
"I am delighted to bring a player of his undoubted quality to the club," manager Mark Hughes told the club's official website.
"His experience is really important to us. He understands the Premier League and he understands what it takes to win games. He has got a winning mentality and that is what I want to have around the place."
Bosingwa won one Premier League title, three FA Cups and the Champions League during his four years with Chelsea.