It was the first public meeting between the players since Terry, the Chelsea and England defender, was cleared in court in July of racially abusing Ferdinand in the corresponding league match at Loftus Road last year.
Ferdinand also failed to shake the hand of Chelsea defender Ashley Cole, who testified on behalf of Terry in the court case. Both Terry and Cole appeared to have their arms outstretched for the handshakes.
Terry was given a hostile reception from QPR fans on Saturday. He is awaiting the result of a Football Association charge, which he denies, relating to the same racism case.