Brett Holman fired Villa ahead from distance only for Jamie Mackie to drag Rangers level thanks to a superb header.
Brad Guzan made an important stop to deny Shaun Wright-Phillips and he was called on late in the game to tip Clint Hill's header onto his crossbar.
The point edges Villa away from the drop zone with five points out of nine in their last three games.
And Lambert felt his side not only had to overcome stubborn opponents, but also a raucous crowd following the arrival of Harry Redknapp as their manager.
He told Sky Sports: "It was a doubly hard game for the players, especially with where QPR are in the league and with Harry coming in as their manager which gave them a major lift so to come here with a young team, it's a massive point for us.
"I thought we were excellent in the first half. Really, really good and they looked threatening every time, but QPR came back really strongly every time and I'm delighted to have collected a point.
"It was a great goal from Brett (Holman). I thought the move was good because we tried to pass it and I thought (Ashley) Westwood was outstanding in the middle of the pitch. We're on a little run at the minute."
Asked if he thought a draw was a fair result, the Scot added: "I think so. You always biased wanting more, but coming away from home there were a lot of pluses."