Goals from Gabriel Agbonlahor, Andreas Weimann and Christian Benteke's late effort earned Villa crucial three points to boost their survival hopes.
Lambert paid tribute to his players as they rallied from a disappointing first half showing to take a big step towards Premier League safety.
"I thought it was a great game for everybody in the stadium, it never looked like two teams that were down there," Lambert told Sky Sports.
"I thought QPR contributed to a great game and the chances that both teams had and some of the football I thought was excellent.
"I have to give my team a lot of credit. I thought 1-0 down was a bit harsh on us at times. Brad [Guzan] kept us in it with some terrific saves in the first half and we got the goal right at the death of the first half which was a big goal for us.
"We came back out really strongly in the second half and got a good goal. Andy [Weimann] scored a terrific goal and then we are pegged back again and then Christian scores what proves to be the winner.
"That's the thing, they have great belief they can turn things around and the enthusiasm for the game I think is exceptional. I think Andy [Weimann] showed that with the third goal. He never gave it up and his goal was brilliant, it was an absolutely fantastic finish."
Lambert hailed the Villa fans for creating a fantastic atmosphere in such a crucial game for the club as they secured back-to-back Premier League wins for the first time under their current manager.
Asked about the statistic, Lambert said: "It was the first time since 2011, someone told me, and that just shows you the magnitude of it. But the crowd today, the noise was deafening at times.
"It was rocking and that shows the potential that is here if you get them on your side and that crowd kept going.
"I have got nothing but praise for the crowd since I have been at the football club. They have been right behind us when we have been beaten pretty heavily and still kept coming in their numbers to watch us. It is a big thanks from myself to the crowd, that's for sure."