The 25-year-old joins the Loftus Road club after an outstanding campaign in Scotland, where he helped Motherwell secure a fourth-place finish.
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Ward set a new club record with 20 clean sheets last season, including a remarkable run of nine consecutive shutouts, and was named in the PFA Scottish Premiership Team of the Season.
The Essex-born goalkeeper is now looking to continue his progress and build on his impressive form with QPR.
“I’m really happy to be here,” Ward said.
“The attraction is pretty simple: it's the Championship, it's a really big league, and I'm really looking forward to coming to such a big club.”