Zamora scored the last-gasp winner against Derby at Wembley in May as Rangers secured their return to the Premier League with a 1-0 victory in the play-off final.
And the former Brighton, West Ham and Fulham forward is delighted to seal a new deal which will keep him at Loftus Road until 2015.
"I'm over the moon," the 33-year-old said.
"I've had an up and down time at QPR. I started off really well but then picked up a couple of injuries and didn't perform as well as I wanted to.
"But at the end of last year, after coming back following injury, I thought whenever I was called upon to do a job, I did it well."
Zamora is hopeful he can stay fit and provide more memorable moments following his Wembley winner.
"The play-off final win was a great day - a great occasion for both my family and everyone connected to QPR to see and enjoy," Zamora said.
"I'm pleased to be fit again now with another chance to prove myself in the best league in the world.
"I still feel I've got something to prove to the fans - and I still think I've got it in me to do a great job, so I'm looking forward to doing that."