He has previously work with QPR's academy in the past.
"It's a fantastic opportunity for me and one which I'll relish,'' Skinner told qpr.co.uk.
"Gary Waddock and I have been friends for a very long time now and when he asked me on board I never had any doubts that it was a good move for me.
"I'm really happy to be here and I'm looking forward to the season ahead.''