Rooney's goal was the third fastest of the season and United could have made it 2-0 after three minutes against opponents who last beat them in the old first division in 1992.
"I thought it was a good performance but I thought we were wasteful of a lot of the chances we had. We should really have had the game won by the 30-minute mark," said manager Alex Ferguson, whose side were knocked out of the Champions League 10 days ago.
"We don't sit and moan about it, we do something about it. And I think the players have done that," he added of the Basel defeat.
Danny Welbeck had the ball in the net after 24 minutes but was ruled offside and Radek Cerny made two crucial saves in three minutes to keep his side in the game.
QPR had a good chance to equalise just before the break when Jay Bothroyd swept in a low cross that was just too quick for Jamie Mackie to get a toe to at full stretch.
Queens Park Rangers' Heidar Helguson (right) and Manchester United's Rio Ferdinand fight for the ball
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