Darren Moore scored a last-gasp leveller as Derby fought back from behind to deny John Gregory a winning return to Pride Park.
Martin Rowlands had seemingly set the Londoners on their way to a first away win since mid-November when he nodded the strugglers ahead with 13 minutes on the clock.
But Moore, rising unmarked as desperation took over, headed Jay McEveley's cross into the net with three minutes remaining to earn Billy Davies' side a share of the points.
The result, only QPR's fourth point from their past 10 away games, sees Gregory's side slip back into the bottom three, while Davies' stuttering promotion charge has been hampered by a return of just eight points from seven games.
For all Derby's problems, however, creating chances was not one of them.
David Jones had a dangerous third minute free-kick saved by Simon Royce, a replacement for the Rams' on-loan stopper Lee Camp, and Steve Howard fared no better with a towering header moments later.
But, with Derby looking more likely to score, the visitors made the breakthrough on 13 minutes.
Paul Furlong was the architect, directing a volley against the far post before Rowlands stooped to head in the rebound.
It sparked a period of continued QPR pressure, Rowlands even coming close to grabbing a second when his darting run from midfield ended with a low drive wide of the post before he left the pitch with a knock.
Derby fought back as first David Jones had a ferocious drive deflected away from goal before Howard, gifted a second chance to get his 15th of the season, headed Jones' inviting cross over the bar from just six yards out.
Arsenal's Arturo Lupoli, on-loan at Pride Park, then demonstrated his class with a weaving run and shot which went narrowly wide of the near post, while Jones saw a 45-yard free-kick tipped over by the back-pedalling Royce.
After the break, Derby emerged intent on setting the record straight but could still find no answer to QPR's stubborn defending.
Lupoli, who earlier saw an effort hacked off the line, had a goal disallowed for offside, while Furlong was lucky not to see his clumsy swipe at a Derby corner hit his own net.
Between those chances, QPR's Gareth Ainsworth, on as a substitute for Rowlands in the first half, danced through the home defence before teeing up Steve Lomas, whose quick-fire drive was well palmed over by Stephen Bywater.
Derby's frustration began to grow and they were not helped when Craig Fagan, on for Gary Teale, was felled by Damion Stewart in the area only for the referee to ignore his appeals for a penalty.
In a final effort to salvage the clash, Davies threw Paul Peschisolido into his attack, but the diminutive striker made scant impact as his side began relying on the aerial ball.
But with just three minutes remaining it was an aerial ball that made the difference.
McEveley floated a cross in front of goal and Moore, escaping his marker, was able to head a dramatic leveller.
Teams:
Derby Bywater, Edworthy, Leacock, Moore, McEveley,Teale (Fagan 66), Oakley, Jones (Peschisolido 77), Barnes,Howard, Lupoli.
Subs Not Used: Grant, Seth Johnson, Mears.
Booked: Moore, Howard.
Goals: Moore 87.
QPR Royce, Mancienne, Stewart, Cullip, Bignot,Rowlands (Ainsworth 28), Lomas (Smith 90), Idiakez, Cook,Nygaard, Furlong (Ray Jones 84).
Subs Not Used: Cole, Kanyuka.
Booked: Furlong, Ainsworth, Idiakez, Bignot, Cook.
Goals: Rowlands 14.
Att: 27,567
Ref: S Tanner (Somerset).