The 32 year-old, capped 64 times by his country, has agreed a contract after leaving Italian giants Inter Milan.
During his seven years at San Siro, Julio Cesar won the Champions League and five Italian titles.
"I'm so happy and excited to be here," he told QPR's website.
"The ambition of this club was presented to me by the chairman and the coach and I couldn't have been more impressed.
"The desire to achieve things at this club is clear for everyone to see and I wanted to be part of that. I have come here to compete for the shirt and give my all."
He added: "The English Premier League is the best division in the world. Everyone wants to play here and I am no different. Now I just want to give my all to the club and show the fans what I am capable of.
"This is a really exciting move for me and I can't wait to get going."
Delighted QPR manager Mark Hughes said: "It's fantastic that we've been able to attract a keeper of such outstanding ability to the club.
"He's an outstanding individual, as well as being an outstanding player.
"Not only will we benefit from his ability, but we'll also benefit from his experience and winning mentality.
Courtesy of ScoreMobile (http://m.thescore.com/scoremobile)
Sent by Maxis from my BlackBerry® smartphone
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