Best of the action from Calmont Road
The visitors had taken the lead midway through the first half with a goal from trialist Kelvin Osei-Addo only for two goals in seven second-half minutes from Kris Twardek (56mins) and Keaton Wood (63mins) to hand The Lions a 2-1 lead.
Back came QPR, with another trialist Ryan Manning, placing a 76th-minute free-kick to level at 2-2.
The game finished in dramatic fashion when Lions keeper Harry Girling was penalised for a foul, but showed great focus as he flung himself across goal to keep out Olamide Shodipo's last-gasp penalty kick.
Take a look at our special photo gallery for the best of Friday afternoon's action.