The shot-stopper left Boro and was available on a free transfer.
QPR have now confirmed his arrival via their official website, stating that Archer has signed a two year contract.
Archer will serve as competition to no.1 Seny Dieng between the sticks next term.
QPR boss Mark Warburton said: "I am delighted to have Jordan on board.
"With Joe Lumley and Liam Kelly both leaving the club, we were short in that area so we needed to bring in a replacement who would be ready when called upon, but also could provide stiff competition for Seny – Jordan meets that criteria.
"He knows the league and he knows what's required of him."
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