QPR are 17th in the Championship table at the moment with 29 points from 25 matches.
Rangers are just five points above the relegation zone and are in danger of going down to League One at the end of the season.
Former QPR midfielder Walton has predicted that Ian Holloway’s side will not get relegated from the Championship at the end of the 2016-17 campaign.
The 29-year-old former Leeds United man believes that the London outfit will comfortably finish in mid-table.
Walton has also praised the club for appointing Holloway as the manager and Marc Bircham as a first-team coach in November.
“I think QPR did the right thing in bringing in Ollie and Birch, two people who really know the club and what it means,” Walton told HITC Sport.
“Looking from afar it seemed the club had lost what it was about, players and managers coming and going from everywhere.
“But now they have people there who the fans can relate to and hopefully start climbing that table. I think they will be comfortable mid-table by the end of the season.”
Walton has also said that he is confident that Guiseley will remain in the Vanarama National League next season.
Adam Lockwood’s side are second from bottom in the standings at the moment with 22 points from 27 matches, four points behind 20th-placed Maidstone United.
“I think we will stay up this season,” said Walton. “We have recently had a good run and clawed a lot of points back after the club was cut adrift by a long way after 13 games. We have the players and staff now to kick on and climb that league.”
Guiseley will take on Maidstone United at home in the Vanarama National League on Saturday afternoon.