The 21-year-old was signed by United from Exeter City in 2012 and made the first-team bench at Watford in November 2015, following a spot on the club’s pre-season tour.
This season, Sean Goss made a fine return from injury and was one of the star performers for the United Reserves team under the interim management of Nicky Butt.
“I’m delighted that the deal is done – absolutely buzzing. I’m at the point now in my career where I need to be playing first-team football, week in, week out – so the opportunity to move to QPR was just something I had to pursue,” Goss said.
Ian Holloway is back in charge at Loftus Road, and the Londoners have beaten off competition from other teams to land Goss on a permanent basis.
“I’m delighted we’ve managed to bring Sean to QPR. I’ve borrowed one or two from United over the years, but sometimes you spot one and you want him – and that’s exactly why I’ve brought Gossy here,” Holloway told QPR’s official website.
“He’s a ball-playing midfielder – and what I want long-term is players in midfield with a range of passing, who can offer us something a bit different. That’s Gossy – that’s what he’s all about.”