United lost 2-1 to the Sky Bet Championship side at Barnet’s ground in north London where a goalkeeping error from Luis Zwick proved decisive.
McNamara said: “I have taken something from all our games so far, but to run a multi-million team like QPR so close is a real plus. Indeed I thought we were the better side and played the better football.
“Now hopefully we can take this performance into the Watford game on Saturday and the Aberdeen game (Premiership opener) because we won’t meet many teams of this quality back home.”
Matt Phillips had put the Londoners in front before Mario Bilate levelled but Zwick allowed a Massimo Luongo header to slip through his grasp and United, who featured new signing Darko Bodul, could not find a response.
Don’t forget you can catch all the excitement of Dundee United’s opening Premiership fixture against Aberdeen on Sunday August 2 live on Sky Sports 1HD from 15.00