Talks between the clubs over a possible extension remained open but have now concluded, and Sean Crighton sent his best wishes to the right-back, who played 12 times for the Spiders.
The head coach said: “Rocco has progressed a lot as a player since he first arrived with us and we were very pleased to give him the game time his development needs as a young player.
“After our match at Raith Rovers he returned to QPR and they shared our positivity over the move.
“Since then we have kept in regular contact over what the best move could be for both clubs and Rocco. He now has options to add to the game-time we have given him and continue his development as a promising young player, and we wish him well for that next move.
“Again I’d like to thank QPR for facilitating the loan deal and to Rocco for his work in the first half of the season. Everyone at the club wishes him well for what comes next.”