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Defender Martin Albrechtsen struck home the first from eight yards when the ball rebounded kindly for him and eight minutes later substitute Emanuel Villa nodded in to ensure the result.
The travelling side, who were relegated so unceremoniously from the Premier League last season, have now earned eight points from their last four Championship games and look to be finally getting over their hangover.
Iain Dowie's side had been in great form going into the game, but they were brought back down to earth with a bump after failing to deal with set pieces late a match that only caught fire in the second half.
The first half was played at a high tempo and each side managed to engineer a clear-cut chance each.
QPR's fell to lone striker Dexter Blackstock on 22 minutes, but right-back Paul Connelly slid in to heroically stop what looked a certain goal.
Five minutes later, Derby full-back Jordan Stewart fed Stephen Pearson on the left wing and he hit a low cross towards attacker Rob Hulse, who could not quite step round the onrushing Radek Cerny.
Hulse's toe-poke was first blocked by the former Tottenham keeper and then booted out for a corner.
After the interval the game opened up more and both sides had good chances to score.
Two minutes into the half, tricky Italian Emanuel Ledesma weaved his way into the box on the right.
His deflected shot had Roy Carroll scrambling back across his goal, but it found the post and bounced behind.
Blackstock then hit a post when he cleverly turned his marker from six yards out, but the away team soon retaliated in this ding-dong battle.
On 62 minutes, Hulse should have scored when put clean though but he was brilliantly tackled by Damion Stewart.
Defender Miles Addison shaved Cerny's crossbar with a 35 yard screamer and winger Nacer Barazite then blazed over for Paul Jewell's side.
But it was his corner from the left with 10 minutes remaining that found its way to Albrechtsen who coolly finished.
Substitute Steve Davies then swung a corner in from the same side and Villa's header was too good for Cerny.