Diakite has agreed a four-year deal with the Loftus Road club having initially joined on loan last season.
The 23-year-old made nine appearances for Rangers last term, receiving a red card on debut against Fulham and scoring the winning goal against Arsenal.
QPR boss Mark Hughes told www.qpr.co.uk: "Samba was a real find for us in January, so we're delighted he's joined us permanently.
"He's a very accomplished footballer and he's made to measure for the Premier League.
"He's got good pace, strength and ability on the ball and he's going to be a great asset for us going forward. There's still so much more to come from him.
"He's only been exposed to the Premier League for a handful of games, so I'm sure he's raring to go and get back into the action again."
Diakite was equally pleased to seal the move.
"It's a dream come true to sign this contract," he said. "I loved my time here on loan and I couldn't be happier to join QPR on a permanent deal.
"It's a fantastic club to play for and the owners have great plans for the future - I am just delighted to be part of it. This is a really exciting move for me."
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