Matt Jarvis led the charge with his curling shot before Doyle fired home.
Visiting manager Mick McCarthy will leave Loftus Road relieved after his team recorded their first league win in 10 matches, their previous victory having come
against Sunderland on 4 December
The struggling club had drawn their last three away games 1-1 and were outplayed by Mark Hughes's recently revamped QPR for much of the opening 45 minutes.
Zamora drilled in the opener following great play by Adel Taarabt, Cisse and Shaun Wright-Phillips.
Indeed, the game was one-way traffic until Cisse's sending off.
DID YOU KNOW?
Wolves have now recovered 13 points from losing positions - more than any other team in the top flight this season. QPR have dropped 15 points from winning positions - more than any other team in the Premier League.
Johnson slid in late on the France international, who retaliated by grabbing the neck of the defender, leaving referee Mark Clattenburg little choice but to send off the former Liverpool and Sunderland man in only his second game for the club.
McCarthy changed his formation after the break, taking off defender Richard Stearman and bringing on Doyle up front.
And it took only 53 seconds for the substitution to take effect.
Doyle's swinging cross from the right arrived at the feet of Jarvis, who looked up and carefully placed his shot past Paddy Kenny.
Wolves could have had added at least two more goals in the 10 minutes that followed.
Scotland international Steven Fletcher directed his header on to the bar, before his scuffed shot was cleared off the line by Anton Ferdinand.
Cisse red card changed game - Mark Hughes
Goalkeeper Kenny then palmed away Doyle's stinging drive, and the Republic of Ireland striker also flicked a header a yard wide.
Doyle finally broke QPR's resistance when he collected Jamie O'Hara's pass before turning and beating Kenny with his shot.
QPR mounted a late revival led by Taarabt.
The Morocco international twice went close with efforts from distance, forcing Wayne Hennessey to tip over the first before dinking a shot just over the bar.
Wolves looked jittery at the back during the closing moments but managed to hold on for only their second away win in the league this season.
QPR manager Mark Hughes:
"If we had 11 v 11 I feel very confident in saying we would have won the game quite comfortably.
"But unfortunately we weren't able to keep 11 on the pitch and we conceded two poor goals in terms of what we could have done prior to the goals going in.
"I felt we did really well defensively but then we let ourselves down somewhat, certainly for the first goal and maybe we needed to be a bit stronger in our challenges for the second one."
Wolves manager Mick McCarthy:
"I've been under pressure for the last 20 games as I've only won two of them," he said.
"I was under no more pressure from Wednesday night than I've been for the last 20 games."
On Cisse's red card: "You know me and my sentiments towards football now.
"That for me wasn't a sending off when I played and, strangely enough, Roger's tackle wouldn't have been a booking.
"But it is and the sending off is because you can't grab anybody by the face because it's not allowed any more.
"He was playing well so he's made a mistake and cost his team. And it did because the extra man paid dividends."
Full Time The final whistle goes and the game is over.
Nenad Milijas takes a short corner.
Effort from inside the area by Anton Ferdinand misses to the left of the goal.
Adel Taarabt takes a outswinging corner from the right by-line to the near post, Nenad Milijas makes a clearance.
Adel Taarabt takes a shot from just outside the penalty area clears the crossbar.
Substitution Nenad Milijas replaces Jamie O'Hara.
Adel Taarabt takes a shot. Jamie O'Hara gets a block in.
Shaun Wright-Phillips takes a shot. Roger Johnson gets a block in. Corner taken by Adel Taarabt. Sylvan Ebanks-Blake challenges Taye Taiwo unfairly and gives away a free kick. Joey Barton restarts play with the free kick. Effort from long distance by Joey Barton goes wide right of the goal.
Adel Taarabt takes a shot. Wayne Hennessey makes a save. Corner taken by Adel Taarabt from the right by-line to the near post, clearance by Matthew Jarvis.
Adel Taarabt takes the outswinging corner, clearance made by Sebastien Bassong.
Adel Taarabt takes a shot. Wayne Hennessey makes a save.
Matthew Jarvis takes a shot. Save by Patrick Kenny.
Armand Traore takes a shot. Save by Wayne Hennessey.
Kevin Doyle takes the chance to get an effort at goal. Save made by Patrick Kenny.
Substitution Rob Hulse on for Bobby Zamora.
Assist by Sylvan Ebanks-Blake.
70:35 Goal scored
Goal! - Kevin Doyle - QPR 1 - 2 Wolves A goal is scored by Kevin Doyle from deep inside the penalty area to the bottom right corner of the goal. QPR 1-2 Wolverhampton.
Joey Barton fouled by Kevin Doyle, the ref awards a free kick. Patrick Kenny takes the free kick.
Adel Taarabt takes a outswinging corner from the right by-line to the near post, David Edwards manages to make a clearance.
Free kick awarded for an unfair challenge on Nedum Onuoha by Kevin Doyle. Patrick Kenny takes the free kick.
Substitution Fitz Hall on for Luke Young.
Substitution Shaun Derry goes off and Armand Traore comes on.
Free kick awarded for a foul by David Edwards on Nedum Onuoha. Luke Young restarts play with the free kick.
Headed effort from deep inside the area by Kevin Doyle misses to the left of the goal.
Jamie O'Hara has shot on goal from just outside the penalty box which goes wide of the right-hand upright.
Shot from outside the box by Sylvan Ebanks-Blake goes wide right of the target.
Sebastien Bassong gives away a free kick for an unfair challenge on Shaun Wright-Phillips. Strike comes in from Adel Taarabt from the free kick.
Handball by Bobby Zamora. Direct free kick taken by Roger Johnson.
Nedum Onuoha fouled by Steven Fletcher, the ref awards a free kick. Direct free kick taken by Patrick Kenny.
Kevin Doyle takes a shot. Save by Patrick Kenny.
Steven Fletcher takes a shot. Clearance by Anton Ferdinand.
Free kick awarded for a foul by David Edwards on Joey Barton. Free kick taken by Patrick Kenny.
Sylvan Ebanks-Blake challenges Anton Ferdinand unfairly and gives away a free kick. Free kick taken by Anton Ferdinand.
Steven Fletcher takes a shot.
Matthew Jarvis takes the inswinging corner, clearance made by Anton Ferdinand.
The assist for the goal came from Kevin Doyle.
45:51 Goal scored
Goal! - Matthew Jarvis - QPR 1 - 1 Wolves Matthew Jarvis grabs a goal from inside the penalty area to the bottom right corner of the goal. QPR 1-1 Wolverhampton.
The match restarts for the second half.
Substitution Kevin Doyle joins the action as a substitute, replacing Richard Stearman.
45:00 +3:17 Half time
Half Time The referee calls an end to the first half.
Shot from just outside the box by Matthew Jarvis misses to the right of the target.
Direct free kick taken by Luke Young.
45:00 +0:03 Booking
Booking Sebastien Bassong is cautioned by the ref for unsporting behaviour.
Foul by Sebastien Bassong on Shaun Wright-Phillips, free kick awarded.
Adel Taarabt takes a inswinging corner to the near post, save by Wayne Hennessey.
Corner taken right-footed by Adel Taarabt to the near post, clearance made by Roger Johnson.
Steven Fletcher is ruled offside. Patrick Kenny takes the free kick.
Steven Fletcher takes a shot from 35 yards and missed to the right of the target.
Jamie O'Hara challenges Joey Barton unfairly and gives away a free kick. Direct free kick taken by Nedum Onuoha.
Luke Young crosses the ball in from the free kick.
Booking Steven Fletcher goes into the book for unsporting behaviour.
Steven Fletcher challenges Shaun Wright-Phillips unfairly and gives away a free kick.
Roger Johnson fouled by Bobby Zamora, the ref awards a free kick. Free kick taken by Jamie O'Hara.
Nedum Onuoha fouled by Sylvan Ebanks-Blake, the ref awards a free kick. Anton Ferdinand takes the direct free kick.
Taye Taiwo restarts play with the free kick.
Booking Roger Johnson is shown a yellow card for unsporting behaviour.
Dismissal Djibril Cisse is sent off by the referee for violent conduct.
Roger Johnson gives away a free kick for an unfair challenge on Djibril Cisse.
Corner taken short by Matthew Jarvis.
Foul by Shaun Derry on Richard Stearman, free kick awarded. Direct free kick taken by Wayne Hennessey.
Sebastien Bassong concedes a free kick for a foul on Bobby Zamora. The free kick is swung in right-footed by Joey Barton, clearance by Roger Johnson.
Free kick awarded for an unfair challenge on Roger Johnson by Bobby Zamora. Direct free kick taken by Sebastien Bassong.
Anton Ferdinand challenges Roger Johnson unfairly and gives away a free kick. Steven Fletcher produces a shot on goal direct from the free kick.
Bobby Zamora concedes a free kick for a foul on Stephen Ward. Direct free kick taken by Jamie O'Hara.
Substitution (Wolverhampton) makes a substitution, with Sylvan Ebanks-Blake coming on for Emmanuel Frimpong.
Bobby Zamora is penalised for handball and concedes a free kick. Wayne Hennessey takes the free kick.
Assist on the goal came from Shaun Wright-Phillips.
15:30 Goal scored
Goal! - Bobby Zamora - QPR 1 - 0 Wolves Goal scored by Bobby Zamora from deep inside the penalty box low into the middle of the goal. QPR 1-0 Wolverhampton.
Free kick awarded for a foul by Djibril Cisse on Richard Stearman. Direct free kick taken by Richard Stearman.
Shot from long range by Steven Fletcher misses to the right of the goal.
Free kick awarded for a foul by Luke Young on Steven Fletcher. Free kick crossed left-footed by Jamie O'Hara from left channel, clearance made by Shaun Derry.
Effort from outside the area by Adel Taarabt goes wide right of the goal.
Bobby Zamora takes a shot. Save by Wayne Hennessey.
The referee blows for offside against Steven Fletcher. Indirect free kick taken by Anton Ferdinand. Djibril Cisse takes a shot. Save made by Wayne Hennessey.
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