Warnock has been appointed as a first-team advisor and will work with QPR’s current head coach Chris Ramsey.
The 66-year-old was in charge of Rangers from March 2010 until January 2012, during which time he guided the London outfit to the Premier League.
QPR were playing in the top flight of English football club only last season, but they are now in the Championship.
The London outfit finished in the bottom three of the Premier League in the 2014-15 campaign and got relegated.
Former QPR forward Marsh appears to be bemused with the appointment of Warnock in his new role and has also mocked the club’s five-year plan.
QPR five year plan has become a weekly plan.......— Rodney Marsh (@RodneyMarsh10) October 17, 2015
Warnock sacked for not being good enough to manage QPR but is good enough to advise the manager— Rodney Marsh (@RodneyMarsh10) October 17, 2015