The 25-year-old has signed a three-year deal, with the Club holding the option of a further year, for an undisclosed fee.
Ingram has close to 200 senior appearances under his belt, the majority of which came with hometown club Wycombe Wanderers. He moved on to QPR in 2016 and is now looking forward to a new chapter with the Tigers.
“I’m absolutely delighted to be here and I’m looking forward to a fresh start with Hull City,” said Ingram.
“It’s a new chapter for me and I’m looking forward to helping this club to push up the table and do as well as it can.”
Ingram joins up with Grant McCann’s squad as the first week of pre-season training continues.