On 1 July 2010, Hill left Palace on a free transfer to join Queens Park Rangers and reunited with his former boss Neil Warnock. On 7 August 2010, Hill made his QPR debut in a 4–0 win over Barnsley where he got his first clean sheet. Hill scored his first goal for QPR against Portsmouth on 1 February 2011. Hill played over thirty games for the Hoops and made the left back position firmly his. He scored his second goal for QPR in a 2–0 home win against Ipswich Town, in a game where he also set up a goal for Heiðar Helguson to seal the win.
