Defender made just one appearance for Middlesbrough in two years and spent time on loan at Sheffield United and Preston
The defender, 31, has signed a two-year deal at Loftus Road after his Boro contract was terminated.
Alex Baptiste has joined Queens Park Rangers
Ian Holloway worked with Baptiste at Blackpool
Baptiste moved to the Riverside from Bolton in 2015 but broke his leg 20 minutes into his debut in a friendly at York.
He only ended up making one first-team appearance with Boro – an EFL Cup game at Fulham – and spent time on loan at Sheffield United and Preston.
Baptiste has now linked up with Holloway, who he played for at Blackpool earlier in his career.
And he said: “I’m very excited to be working with Ian again.
“Working with him at Blackpool was the best time of my career.
“We had an unbelievable team spirit there and he was the biggest part of that.
“QPR is a massive club and I am really looking forward to being part of the squad.”
Baptiste has ended a nightmare stint at Middlesbrough
Baptiste helped Blackpool win promotion to the Premier League in 2010
Conor Washington scored twice as QPR beat Reading
Tiago Ilori was sent off for Reading
Rangers started the new season in style with a 2-0 win over Reading at Loftus Road.
Forward Conor Washington bagged a brace for the Londoners as the Championship play-off final losers played the secondhalf with ten-men.
Defender Tiago Ilori was sent off for a professional foul on Pawel Wszolek.
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