After completing the deal, the former Inter Milan and Parma defender said:
“I've always watched English football and enjoyed it and I wanted to come here for a
different experience," he admitted.
"I asked Fabrizio Ravanelli about playing in England and he put me in touch with Gianni Paladini who offered me the opportunity to come to QPR.
"This is something I've been hoping to do for the last three or four years. I'm really looking forward to the new season and I hope to play well."
Last season Mauro helped Perugia to promotion to Seria A and will provide competition for a left-back spot left open by the departure of Gino Padula.
He is the seventh summer signing following Simon Royce, Ugo Ukah, Tommy Doherty, Stefan Moore, Marc Nygaard and Ian Evatt.