The defender felt he was the victim of a racial slur from Terry in the corresponding fixture a year ago, though the former England captain was found not guilty of a racially aggravated public order offence in July in court.
Cole took to the stand in defence of his captain at Chelsea in that case, but an FA charge related to the incident still hangs over Terry.
After much discussion and public debate in the week the handshake ceremony at the start of the match was kept in place.
QPR manager Mark Hughes said it was up to his player whether he wanted to shake the hands of the duo, and Ferdinand chose not to on both occasions.
As if to illustrate his choice, Ferdinand offered wholehearted handshakes to the rest of the Blues team.
Hughes said: "The players had a discussion and I was made aware that some of them were prepared to shake and some weren’t.
"I didn’t know which individuals were involved. It was a personal choice of each of them."
QPR captain Park Ji-sung also ignored Terry when the coin toss to decide ends was taken.
The match itself ended in a 0-0 draw.