The Chelsea youngster opened the scoring for the Terriers as they returned to winning ways to retain their spot on top of the Championship table.
Palmer ghosted in at the back post to head home Rajiv van la Parra's cross from the left in the 14th minute at John Smith's Stadium.
The 19-year-old was close to adding a second when a deflected effort needed saving by QPR keeper Adam Smithies before Palmer produced a lovely chipped cross for Nahki Wells who really should have scored.
The home side's lead was doubled just after the hour-mark when Elias Kachunga, on loan from German club FC Ingolstadt, met Tommy Smith's cross with a well-directed header before Idrissa Sylla pulled one back for the R's past Liverpool keeper Danny Ward.
Check out the highlights below, courtesy of HTAFC's official YouTube channel:
After the match, Palmer told HT TV: “It was important for us to bounce back after losing against Brighton, which was a difficult game.
“We bounced back well.
“I'm buzzing to be fair. I said to my missus before the game I was going to score as well. i just had that feeling."
Great team performance today, Buzzing to get on the scoresheet aswell! Fans unreal as usual
— Kasey (@Kasey_Palmer10) September 17, 2016
Top Of The League so Milly rocking with the big bro @ekachunga15 Terriers Keep Marching On pic.twitter.com/UPYmUBq6aH
— Kasey (@Kasey_Palmer10) September 18, 2016