The Morocco international attacker played on loan for the Italian giants during the second half of the 2013-14 season.
The 26-year-old made 14 appearances in Serie A for Milan, scoring four goals and creating 19 chances in the process.
Taarabt had a pass accuracy of 85% and a shot accuracy of 54%, and won four headers, 50 dribbles and 12 tackles.
The former Tottenham Hotspur attacker has revealed that Milan wanted to sign him in the summer of 2014, but QPR decided not to sell him because they thought that the offer was too low.
“I went on loan in January last year and Milan made an offer for €6 million (£4.25m), but Tottenham would get 40 per cent and QPR said it was not enough,” the 26-year-old told The Sun.
“My agent told them, ‘It’s better to take something now’. In the end they lost everything.”
Taarabt left QPR at the end of the 2014-15 campaign when his contract with the London outfit ran out.
The Moroccan has joined Portuguese giants Benfica, who will feature in the group stage of the Champions League next season.
In hindsight, it was a poor decision from Rangers not to sell Taarabt, especially as the player did not play a big role last season.
Taarabt could feature in only seven Premier League games for QPR last season, failing to score a single goal and creating only 13 chances in the process.
The former Lens attacker had a pass accuracy of 86% and a shot accuracy of 17%, and won 11 dribbles and one tackle.
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