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Summer signing **Eddie Nketiah** scored his first goal for **Crystal Palace** in the 16th minute, slotting the ball through the legs of goalkeeper **Joe Walsh**.
A high-pressing **QPR** side fought back, and **Sam Field** equalized with a looping finish eight minutes into the second half.
However, the home side's hard work was undone when **Eberechi Eze** got lucky with a shot that bounced off **Steve Cook** and wrong-footed Walsh.
This is the first time Palace has reached the fourth round of the **EFL Cup** since the 2018-19 season when they fell to **Middlesbrough**.
**Oliver Glasner's** side will discover their fourth-round opponents when the draw takes place on 25 September.
Eze, who left QPR for Palace in 2020, came close to grabbing an early goal, but his effort from the edge of the box fizzed over the crossbar.
The England international redeemed himself shortly after, threading the ball through QPR's defense to find former Arsenal man Nketiah, who had plenty of space to poke home Palace's first.
Nketiah nearly doubled the visitors' lead before half-time when he slammed a low strike towards goal, but his effort was palmed away by Walsh to the feet of **Daniel Munoz**, who couldn't adjust his feet in time.
QPR continued to pile pressure on with a high press after the break, and **Dean Henderson** was called to action for the first time to deny **Paul Smith** with a superb fingertip save.
However, the Palace keeper was at fault minutes later when his poor clearance from a corner resulted in Field's left-footed finish.
Eze had the last say on his return to **Loftus Road** as he darted through the middle of the pitch and cut off to the right before his strike deflected off Cook into the net.
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**Alfie Lloyd** (Queens Park Rangers) missed a right-footed shot from the right side of the box, which was close but missed to the left, assisted by Joe Walsh.
**Ismaïla Sarr** (Crystal Palace) had a right-footed shot from outside the box saved in the top right corner, assisted by Eberechi Eze.