The 29-year-old centre-half, QPR's record signing when he arrived from Anzhi in a £12.5million deal in January, made 10 appearances for the London club, who were relegated to the Championship last season.
A statement on QPR's official website read: "The club would like to wish Chris all the best for the future and thank him for his contribution to QPR."
Samba first came to England from German side Hertha Berlin in 2007 when Blackburn paid £450,000 for him.
He made over 160 appearances for Blackburn before moving to Anzhi in February 2012.
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