England forward Zamora, who media reports said had fallen out with Fulham boss Martin Jol, has been replaced at Craven Cottage by Stuttgart's Russian striker Pavel Pogrebnyak.
The three deals were confirmed by the English clubs on their websites.
Zamora, 31, has signed a two-and-a-half-year deal with the promoted club and links up again with QPR's former Fulham boss Mark Hughes after moving for an undisclosed fee.
"Bobby is a guy that makes things happen on the pitch, be it scoring goals or creating chances for others," Hughes said. "He's a great foil for any team."
"I rate Djibril very, very highly," added Hughes, who has also signed Nigerian left-back Taye Taiwo, England Under-21 defender Nedum Onuoha and Mali midfielder Samba Diakite since taking over this month.
"I've watched him for many years and always been impressed by what he brings to the table. He's a huge threat to opposition's defences. He's got great pace, power and movement and that's something we'll hopefully benefit from."
"He wanted to sign me at Manchester City and now I am finally here with him at QPR," Cisse said.
"He wants to achieve big things here, that was all I needed to hear from him. I have unfinished business here in England."
