Stoke signed Palacios for £6m in 2011.
But he has made just four appearances this season and boss Tony Pulis has said he will let the 28-year-old leave.
Palacios' father Eulogio said: "Wilson is going to join QPR. Their manager is interested in signing him once more, as he knows him well.
"Wilson is going to change clubs as he is not getting games for Stoke.
"Their manager puts him on the teamsheet but does not play him."