But Doncaster frustrated them throughout the first half and could have gone in front when Martin Woods fired a 25-yard free-kick that keeper Paddy Kenny could only divert onto the inside of the post and James O'Connor saw his goalbound follow-up effort superbly cleared off the line by Clint Hill.
Rangers were much-improved after the turnaround and finally clicked into gear after Taarabt's precise free-kick was headed over the top by Gorkss.
The breakthrough eventually arrived in the 53rd minute when Gorkss met Akos Buzsaky's corner with another firm header, which effort was blocked by Rovers right-back Mustapha Dumbaya but he reacted quickest to slam the loose ball past Sullivan.
QPR's second came in the 81st minute courtesy of Taarabt's spot-kick after Helguson was fouled in the box by Sullivan.
And Gorkss sealed the win with two minutes remaining, heading home another Taarabt set-piece.
Live text and stats
Saturday, 25 September 2010
Taarabt (pen) 81
04 Derry (Leigertwood 76)
09 Helguson (Agyemang 87)
12 Mackie (Smith 89)
01 Sullivan yellow card
18 Gillett (Hayter 79)
10 Sharp yellow card
Ref: EastAtt: 13,990
Attempts on target
Attempts off target
90:00+3:28 The referee ends the match.
90:00+2:54 The assistant referee signals for offside against Billy Sharp. Free kick taken by Patrick Kenny.
90:00+0:37 Akos Buzsaky produces a left-footed shot from outside the penalty box and misses right.
88:23 Substitution Jamie Mackie leaves the field to be replaced by Tommy Smith.
87:08 The assist for the goal came from Adel Taarabt.
87:08 GOAL - Kaspars Gorkss:QPR 3 - 0 Doncaster Kaspars Gorkss scores a headed goal from close range. QPR 3-0 Doncaster.
86:17 Inswinging corner taken by Adel Taarabt from the left by-line,
86:17 Substitution Patrick Agyemang joins the action as a substitute, replacing Heidar Helguson.
83:47 Shot by Martin Woods from outside the area goes high over the crossbar.
Correction - 81:38 Unfair challenge on John Oster by Hogan Ephraim results in a free kick. Cross/shot by Martin Woods.
81:38 Foul by Hogan Ephraim on John Oster, free kick awarded. Martin Woods delivers the ball from the free kick left-footed from
right channel, Effort from outside the area by Martin Woods goes wide right of the goal.
81:07 Inswinging corner taken left-footed by Martin Woods played to the near post, clearance by Matthew Connolly.
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