The defender has been handed a contract until the end of the season, following his summer release by Bolton.
“I just felt that with the injuries Fitz Hall has had this season that we were maybe one body light in the central defensive area,” QPR boss Neil Warnock told the club’s official website.
“We’ve got to look at every avenue for the last 19 games of what could be the most important period in the club’s recent history.
“Dan wanted to come here and I wanted to get him, so it was a no-brainer in that respect. Dan knows the club inside-out and can’t wait to get started.”
