Booth's strike came on 35 minutes after Danny Schofield's skill took him past 2 defenders and Schofield gave Chris Hay the chance to put in a superb cross which Booth headed down solidly past Fraser Digby into the QPR goal.
The goal signalled a period at the end of the first half when Town were strutting and the R's couldn't get their game going.
Chris Hay and Andy Booth had three chances to make it 2-0 a few minutes after Booth's original header but Digby and Danny Shittu saved their team.
If the Terriers' were on fire in the first half the second half didn't quite reach their high standards as QPR brought on Doudou for Danny Murphy and went on the offensive.
Ian Holloway's tactics were working as the French striker had an early chance seconds into the second half and the Terriers never really got going after that.
Deep defending and some lax closing down by the Terriers invited attack from their visitors and they began to dominate the midfield and create chances up front for Kevin Gallen, Doudou and Andy Thomson.
Rangers failed to break through the Terriers' defensive barrier which was, at times, fairly desperate, and Town took their deserved points.
Read Mel Booth's match report in the Examiner on Monday. Have your say in the message board below - selected comments may be published in the Examiner.
Town (4-4-2): Margetson, Jenkins, Gray, Clarke, Evans, Hay (Armstrong 64), Schofield, Irons, Holland, Knight (Moses 89), Booth
Subs not used: P. Senior, Wijnhard, Macari
Booked: Irons, Holland, Booth
Scorer: Booth 35
QPR (4-4-2): Digby, Palmer, Peacock, Bignot, Rose, Griffiths (Connolly 65), Forbes, Gallen, Murphy (Doudou 46), Thomson (Paquet 89), Shittu
Subs not used: Langley, Evans
Referee: Mike Fletcher (Warley)
Attendance: 9,433 (898 Away)
Match points follow on subsequent pages
95 mins: The crowd bayed for Town to push out of defence.
94 mins: QPR drove forward on their last attack as Town packed their defence and conceded a corner.
93 mins: Paquet was tackled by Armstrong as Gray cleared. Town needed to run the clock down and Adrian Moses replaced Leon Knight who was given a standing ovation as he came off.
92 mins: Margetson came and punched out and chances by Gallen and Paquet were cleared off the line by Gareth Evans!
91 mins: QPR were desperate to score the equaliser as Irons went into the book. The Terriers had to defend a close free kick.
90 mins: Andy Thomson was taken off and replaced by Richard Paquet as 4 minutes of added time were indicated.
89 mins: Thomson took the ball from Forbes with Peacock in support but Town got back with Danny Schofield and Kenny Irons clearing the ball.
88 mins: Andy Booth held the ball up despite the close attentions of Bignot.
86 mins: Doudou's long ball was cleared
84 mins: Gallen and Doudou were both flagged offside, despite their protests. Chris Holland was booked for an earlier strong tackle on Matthew Rose.
81 mins: Connolly's overhead kick was wide of the mark but the R's continued to attack - Margetson saved Doudou's strike while unsighted.
80 mins: Leon Knight limped off the field for treatment.
79 mins: Andy Booth was questionably given offside with a late flag. Danny Shittu had earlier held off Leon Knight during a critical attack.
78 mins: Craig Armstrong's cross saw Leon Knight blast an effort in which came off Digby's legs with Schofield in support.
77 mins: Scrappy play by both sides but the pressure was on Town.
75 mins: Doudou slipped and gave the ball away but QPR recovered and pressed the Terriers who were being too intricate in their passing.
74 mins: Gallen was brought down by Kenny Irons and was promptly lectured by the referee. Nobody seemed willing to close the ball down in midfield.
73 mins: Gray made 2 great tackles to deny R's attacks but the Terriers were still inviting attack with their deep defending.
72 mins: Jenkins tackled on the edge of his penalty area.
70 mins: Nathan Clarke dispossessed Kevin Gallen and raced into the QPR half but was brought down by Matthew Rose who was merely ticked off by the referee!!!
68 mins: Nathan Clarke rescued the ball from Andy Thomson and the ball broke for Leon Knight who was tempted to touch the ball on his way back from an offside position with Danny Schofield ready to break free.
67 mins: Town failed to close down the ball on an attack and QPR breathed a sigh of relief as the Terriers missed the chance to have a go at their visitors. Craig Armstrong looked bewildered as his team-mates blew the chance.
66 mins: Gallen knocked it over the top and Leroy Griffiths took the ball on his knee and forced a save out of Margetson - the R's were really pushing for the equaliser. Karl Connolly replaced Griffiths as QPR pushed on.
64 mins: Griffiths was felled by Chris Hay for a free kick which fell to Forbes. Doudou provided a cross which was hit over Margetson's bar by Matthew Rose. The Terriers were defending very deep now and Leon Knight looked a lonely figure upfield as his teammates defended very deep. Craig Armstrong was coming on for Chris Hay and took up a position on the left of midfield with Schofield switching to the right.
62 mins: Leon Knight was applauded for his efforts in trying a chip which was too high and wide for Digby to worry about.
62 mins: Peacock was beaten to the ball by Steve Jenkins as the R's continued to press.
61 mins: QPR claimed a free kick on the edge of the Town area. Gallen's flick-on was wayward, and he was leaning on Nathan Clarke, after a poor free kick by Peacock towards the far post. Town were poor.
60 mins: Irons put the ball out of play as Town lost their way. The R's were dominating in midfield and calls for Craig Armstrong to steady the ship were not far off.
59 mins: Thomson and Doudou pressurised relentlessly but the Terriers had their chances to clear.
57 mins: Andy Thomson was thwarted by Martyn Margetson after Doudou flew out of his defence and lofted a pass to his team-mate with Town in disarray.
56 mins: Danny Schofield's chance was cleared by Marcus Bignot.
55 mins: Whistling from the Kilner Bank suggested that Leon Knight had been elbowed off the ball by Danny Shittu. The Terriers were sitting deep again and inviting attack from their visitors.
53 mins: Peacock found Doudou with a good pass and QPR tried to probe for an attack befiore they gave the ball away. Shittu then tussled with Leon Knight for possession as Town countered.
50 mins: A poor clearance by Margetson resulted in a scramble for a better clearance in the wind with Doudou bearing down on him.
49 mins: Leon Knight's neat turn and cross/shot went just wide of the back post.
48 mins: Shittu cleared the ball across his own penalty area under pressure.
46 mins: Doudou caused panic in the Town area and could have scored but for a quick reaction by Margetson. The Terriers had come out cold and almost paid the price.
46 mins: Danny Murphy was replaced by Doudou as QPR opted for attack to try and pressurise the Terriers.
A cracking first half with both sides playing passing football entertained the McAlpine crowd.
Andy Booth's 36th minute goal, a downward header from Chris Hay's cross, was the difference between the sides and Town remembered to avoid defending deep to thwart QPR's attempts at counter-attacks towards the end of the half.
The Terriers could have been 2-0 up minutes later but Chris Hay and Andy Booth were thwarted by great save from Fraser Digby but the big questions for the second half has to be: Is 1-0 enough?
45 mins: The game went into 2 minutes of added time with Town still attacking and holding a high, tight back line to prevent QPR from effectively countering with pace.
43 mins: Chris Holland's free kick released Leon Knight whose strike was straight at Fraser Digby.
43 mins: Schofield's great footwork took him infield and he passed for Knight only for Digby to come out and save.
41 mins: Andy Booth and Chris Hay were thrice thwarted by Danny Shittu and Fraser Digby as a goal-mouth drama ensued following another pressing attack by the Terriers.
39 mins: The crowd applauded hard work by the Terriers which ended with a 35 yard drive by Steve Jenkins which flew just wide.
37 mins: Town couldn't afford to sit back against a QPR side capable of attacking at will.
36 mins: Andy Booth finally scored with a precision downward header when Chris Hay put in a great cross to confound the R's defence after Danny Schofield had taken out two defenders to provide the crossing chance for Hay.
35 mins: Gallen and Forbes combined against Gareth Evans to create a chance on goal which was poor.
33 mins: Knight's cross to the far post was captured by Fraser Digby after Chris Hay's cross.
30 mins: Hay sliced an attempted cross in the poor conditions following a Chris Holland free kick.
28 mins: Peacock's cross was cleared by Clarke as QPR attacked swiftly.
26 mins: Clarke gave away a corner after QPR counter-attacked with Evans now out of position.
26 mins: Evans drove upfield with Murphy out of position but his hesitation after crossing the half way line cost Town the momentum after his pass for Andy Booth went astray.
25 mins: Holland gave away a corner from a free kick by Peacock.
24 mins: Both sides were playing a good passing game but neither side had a clean chance.
22 mins: Evans' free kick was cleared by Danny Shittu but the ball fell back into Town possession who, despite crisp passing, couldn't beat Digby.
21 mins: Shittu's clearance fell to Irons who had his shirt tugged for a free kick.
20 mins: Knight tried to chip the 'keeper from a tight angle but Digby made the save.
18 mins: Rose was booked for a high foot on the edge of the area against Kevin Gray.
16 mins: QPR carved the Terriers open but tried one pass too many before it broke down. Leon Knight was hurt after crashing into advertising hoardings following a tackle by Matthew Rose. Rose made another poor challenge on Andy Booth and was let off again!
15 mins: Knight and Schofield combined well but the attack broke down.
14 mins: Bignot was penalised for handball. Booth jumped high for the eventual crossed ball but the chance created by Evans was not clear.
11 mins: Palmer's delivery was cleared by Jenkins and Booth.
10 mins: Booth closed down Danny Murphy and was penalised for a late tackle in the slippery conditions which got the Town striker booked.
9 mins: Evans cleared riskily and Danny Schofield went upfield with Leon Knight but the two of them couldn't beat Digby.
7 mins: Gallen kicked the ball away after being penalised for offside.
6 mins: Evans' ball for Booth was cleared by Palmer. Town countered and Knight was wrongly given offside after a cross by Hay came off a defender to put him clear.
5 mins: Shittu cleared to Thomson and QPR attacked only for Jenkins to clear the ball with Gallen marauding in the vicinity.
4 mins: Knight beat Shittu, after taking the ball from Chris Hay, and crossed only to watch the ball skid across the face of goal with Schofield too far away to capitalise.
3 mins: Shittu shielded the ball from Knight as it rolled back to Fraser Digby. The meagre numbers of travelling QPR supporters were leading the singing in the McAlpine.
2 mins: The ball was skidding across the sodden turf as QPR attacked from the start.
The match was cleared by the referee after 2 pitch inspections following heavy overnight rain which left the McAlpine pitch flooded in places.