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"My time at the club has been some journey," Ward told Motherwell media. "Last season I was given an opportunity to show what I could do.
As a club, we achieved so much, and I'm so pleased to be a part of it."
He leaves Motherwell with 12 months remaining on his original contract, which was set to run until June 2027.
Ward described the club as "a special club that I'll always be a supporter of."
QPR Praise New Signing
QPR chief executive Christian Nourry expressed satisfaction with the acquisition, praising Ward's physical readiness for English football.
"Calum was the outstanding shot-stopper in the Scottish Premiership last season and it is a pleasure to bring him to QPR," Nourry said on the club website.
"He is brave, shown strong capacity to battle on defensive set-pieces in a league that is as brutal as the EFL Championship in this regard, as well as possessing excellent ability with the ball at his feet."
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The length of Ward's contract at Loftus Road has not been disclosed.
