Charlie Austin’s goal – his sixth of the season – put QPR ahead at the KC Stadium before Michael Dawson equalised.
Austin met Tjaronn Chery’s 25th-minute corner with a glancing header which crossed the line before Andrew Robertson could clear.
But the Tigers hit back when Dawson headed home Tom Huddlestone’s left-wing free-kick eight minutes before the break.
Hull had been lively early on, with Sone Aluko bringing a good save from Rob Green before just failing to connect with Robertson’s dangerous cross.
But Chery has been a consistent threat to the Tigers defence and had a long-range effort saved before delivering the corner which led to the opening goal.
Chery then sent another long-range shot wide and Rangers seemed to be growing in confidence before Hull levelled.
Green, available again after serving a one-match ban, was restored to the side along with Alejandro Faurlin. It meant Alex Smithies and Daniel Tozser dropped to the bench.
QPR: Green; Perch, Onuoha, Angella, Konchesky; Henry, Faurlin; Phillips, Luongo, Chery; Austin.
Subs: Smithies, Hall, Gladwin, Doughty, Mackie, Emmanuel-Thomas, Tozser.