Former Fulham boss Hughes had been heavily tipped to make a move for the 31-year-old striker and Zamora has now finalised his switch to Loftus Road after completing a medical and agreeing personal terms.
Zamora has signed a two-and-a-half year deal with QPR and Hughes is delighted to be reunited with the powerful target man.
"Bobby is a guy that makes things happen on the pitch - be it scoring goals or creating chances for others," said Hughes. "He's a great foil for any team. We needed a player of his ilk at the football club and I couldn't be more delighted."