Redknapp has revealed he would have kept him at White Hart Lane if it had been his decision and he is happy to be reunited with him.
Newspaper reports have also linked Taarabt with a move to Manchester United, but Redknapp said: "He was alright with me, Adel. I think he has improved. His attitude is good and he has got bags of ability.
"I wouldn't have let him go, in all honesty - I said that at the time - I would have kept him at Tottenham.
"It was just he couldn't get into the side and the chairman decided if he wasn't going to play, we might as well sell him and get a big sell-on if he made a success at QPR.
"That's why I let him go. I would have kept him around because I always felt he was a player you could bring off the bench and he could change a game for you.
"But Adel is okay. He's got a part to play for us, for sure."