QPR 3-3 Bristol City (5-4 on pens): Rangers through on spot-kicks
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QPR goalkeeper Liam Kelly celebrates his side's penalty shoot-out win
QPR progressed on penalties after a thrilling see-saw all-Championship tie against Bristol City at Loftus Road.
After a 3-3 draw, the sides missed five penalties in the shoot-out, with QPR coming out on top 5-4 when Liam Kelly saved from City captain Bailey Wright.
Famara Diedhiou put City ahead in the 13th minute, only for Nahki Wells to fire Rangers level two minutes later.
Ilias Chair then tucked away Marc Pugh's cross to make it 2-1 to Rangers, but City's Jack Hunt curled in an equaliser before half-time.
Liam Walsh struck a spectacular 30-yard free-kick to restore City's lead before Ryan Manning's 86th-minute penalty ensured the tie went to a shoot-out.
Manning scored again from the spot, with team-mates Matt Smith and Yoann Barbet missing their kicks.
But Diedhiou, Niclas Eliasson and Wright all missed for the visitors to give the Hoops victory and a home tie with League One Portsmouth in round two.