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They could easily have been two goals behind after seven minutes were it not for their goalkeeper Stephen Bywater.
First he was forced to save low down to his left after a neat turn and shot from Jay Simpson, before turning over a fierce drive from Matthew Connolly.
Rangers were looking impressive as they tried to capitalise on a nervous Derby side and Argentinian Alejandro Faurlin's sweetly-hit shot from outside the box was palmed away by Bywater.
After appearing to weather the earlier pressure, Derby began to create some chances of their own. Arsenal loanee Gilles Sunu found space on the right and his centre into the QPR box was cleared before the onrushing Stephen Pearson could arrive.
On 31 minutes Paul Green picked up the ball just inside the QPR half and, as he ran towards goal, he was felled by Damion Stewart just outside the box.
Up stepped Robbie Savage but his tamely-hit free-kick was caught easily by Carl Ikeme in the QPR goal.
The home side eventually took the lead with the last action of the first half. Adel Taarabt collected the ball on the right before switching play to Lee Cook over on the left.
The winger took two touches to compose himself as he ran towards goal before firing a low left-foot shot underneath the helpless Bywater.
It was Derby that started the brightest after the restart and they deservedly drew level on 67 minutes. After the QPR defence had failed to clear Savage's free-kick, the ball found its way to Paul Green who fired through a crowd of players into the bottom left-hand corner.
The home side went in search of a winner which nearly arrived five minutes from time only for Rowan Vine to see his shot crash off the upright. The scores remained level and Derby held out for a well-deserved point...