The 33-year-old helped Rangers win promotion back to the Premier League this season.
“I’m absolutely delighted my future lies here,” Helguson told the club’s official website.
“You want to get things sorted out as early as possible and I’ve been able to do that, which feels good.
“I wasn’t sure what was going to happen when I came back last season, but I spoke to Neil (Warnock) and he wanted me to stay.
“Everybody wants to be wanted and it’s nice when a manager says things like that.”
“Heidar made a massive contribution last year, and he’ll play a big role again for us in the top flight next season,” said QPR boss Neil Warnock.
“People forget just how many games he played last season – he was exceptional.
“It’s not just his goals – it’s his overall game.
“He’s a big presence in the dressing room; a steadying influence in both training and on matchdays; and he’s a great professional.
“He’s also got the experience of having played in the Premier League, so I’m delighted we’ve managed to agree a new deal with him.”
