The Morocco international had the chance to net the winner and secure a vital three points for the Hoops after Norwich City goalkeeper Mark Bunn fouled Jamie Mackie.
However, Taarabt’s subsequent spot-kick was saved by Bunn, leaving QPR six points adrift of 17th-placed Reading at the end of play on Saturday.
But Jenas praised his team-mate’s strength of character for stepping up to take the penalty.
“In the situation we are in we need everything we can get but I will never, ever criticise a player who steps up to take a penalty because they’re courageous to do it, especially given the position we are in at the minute,” Jenas told QPR’s website.
“I thought Adel was fantastic and it’s just a shame he couldn’t round off his performance with the goal.”
The 28-year-old, who moved from Spurs to the Hoops on transfer deadline day, is aiming to improve his fitness before earning a starting spot in Harry Redknapp’s side.
“I was delighted to get out there for half an hour. I felt composed and felt I kept the ball well. Now I will build from there,” he added.
“It was my first game since November, so it’s been a while. But I’ll be doing extra work in training throughout this week and trying to get myself to that level where the manager feels I am in a position to start.
“I know what my body needs, and if it needs more to get my fitness levels up, then I’ll do more.”
ENHANCED ODDS: Get 3/1 on England to beat Estonia