Nick Bailey came to Charlton's rescue twice to earn a point against QPR.
The visitors opened the scoring when Lee Cook curled in a free-kick, and Samuel Di Carmine and Dexter Blackstock came close to adding to their lead.
Bailey headed in at the near post to equalise for Charlton but QPR regained the lead when Blackstock turned and fired past goalkeeper Rob Elliot.
Parity was restored again when Bailey slotted into an empty net, before Heidar Helguson hit the bar at the end.
Charlton caretaker manager Phil Parkinson: "First half we were tentative and on the back foot and there was not enough impact with our play. We looked like a team in the bottom three.
"But in the second half, I thought we were excellent. Nicky Bailey got in there and got two goals to cap off a terrific performance.
"When you're on a run like we are, there is a knock of confidence in the group of players, but if we keep on playing like this, then we will get out of this situation."
QPR boss Paulo Sousa: "It's not easy to come here and win in this stadium and my players were working very hard to win.
"We controlled most of the game and we had the best chances and once more, you need to have a little bit more luck.
"I think Charlton are good enough to get out of the relegation zone."
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