The 36-year-old, who has been with Rangers for over seven years since joining the club from Cardiff City, has left Loftus Road to try and prolong his playing career.
"It's without doubt the most emotional day of my career. I feel so much a part of this club, so this is a very sad day," he told the club's official website.
"The reason I am leaving is to prolong my playing career and it is with a heavy heart that I have had to make this decision.
"I want to thank every fan of the club for making my spell here so fantastic and unforgettable.
"QPR will always have a special place in my heart."
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Gareth Ainsworth (QPR) Information
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Date of birth
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Thursday, 10th May 1973
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Height
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5.8
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Place of birth
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Winchester, England
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Weight
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13.2
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Nationality
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England
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Position
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Forward
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Comments
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Squad No.
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26
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Recent Career History By Club (1999 onwards)
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Team
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Debut | Apps (+ sub) | Goals | Yellows | Reds | |
| 21 Nov 2009 | 2 (0) | 0 | 0 | 0 | ||
| 09 Aug 2003 | 109 (43) | 21 | 14 | 0 | ||
| 18 Mar 2003 | 9 (0) | 0 | 0 | 1 | ||
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MK Dons
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25 Jan 2003 | 8 (1) | 2 | 2 | 0 | |
| 07 Dec 2002 | 2 (3) | 1 | 0 | 1 | ||
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MK Dons
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28 Aug 2002 | 1 (5) | 0 | 0 | 0 | |
| 30 Mar 2002 | 3 (2) | 1 | 0 | 0 | ||
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MK Dons
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13 Jan 2001 | 10 (6) | 2 | 2 | 0 | |
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Recent Career History By Season (1999 onwards)
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Season
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First App. | Apps (+ sub) | Goals | Yellows | Reds | |
| 11 Aug 2009 | 2 (2) | 0 | 0 | 0 | ||
| 22 Sep 2007 | 17 (8) | 2 | 2 | 0 | ||
| 05 Aug 2006 | 18 (5) | 1 | 4 | 0 | ||
| 06 Aug 2005 | 33 (11) | 9 | 5 | 0 | ||
| 07 Aug 2004 | 15 (8) | 2 | 2 | 0 | ||
| 09 Aug 2003 | 26 (9) | 7 | 1 | 0 | ||
| 28 Aug 2002 | 20 (9) | 3 | 2 | 2 | ||
| 12 Jan 2002 | 3 (4) | 1 | 0 | 0 | ||
| 13 Jan 2001 | 10 (4) | 2 | 2 | 0 | ||
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Appearances 144 (+ 60 as sub); Goals 27; Yellow cards 18; Red cards 2
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