QPR 0 Hull City 1
Charlie Austin missed an 84th-minute penalty as QPR were beaten on their return to the Premier League.
James Chester scored the decisive goal early in the second half when he got in front of Rio Ferdinand to head home James Quinn’s corner.
And after Chester’s handball, Austin saw his spot-kick saved by keeper Allan McGregor.
Rangers, thrashed at home on the opening day of their last two top-flight campaigns, made an encouraging start.
They were boosted by inclusion of Loic Remy, who caused Hull plenty of problems before the break, while Alejandro Faurlin made his competitive return to action following the knee injury he suffered last November.
Harry Redknapp’s side almost went ahead two minutes before the interval when Steven Caulker – making his debut along with Ferdinand and Jordon Mutch – saw his header from Joey Barton’s left-wing corner headed off the line by Andrew Robertson.
But a corner led to Rangers being undone six minutes after the interval, with Chester punishing some sloppy defending.
Quinn gave QPR more problems nine minutes later, surging towards the edge of the box and playing in Tom Ince, who was denied by the legs of keeper Rob Green.
Boss Redknapp responded with a double substitution, sending Matt Phillips and Junior Hoilett on in place of Danny Simpson, who struggled in the right wing-back role, and Faurlin.
Hull continued to look fairly comfortable, however, and Nikica Jelavic went close to doubling their lead.
And so Redknapp’s final throw of the dice was to bring play-off hero Bobby Zamora on for the final 12 minutes.
Zamora, whose last-minute winner at Wembley clinched promotion, had a swift impact, threading a pass through for Hoilett, whose cross was adjudged to have been handled by Chester.
But Austin was unable to beat McGregor, who produced another save to deny Remy in injury time.
QPR (3-5-2): Green; Caulker, Ferdinand, Dunne (Zamora 78); Simpson (Phillips 68), Barton, Faurlin (Hoilett 68), Mutch, Traore; Remy, Austin.
Subs not used: Murphy, Hill, Onuoha, Henry.