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.”
Jenas made his first Premier League appearance of the season in QPR’s stalemate after the England international found himself out of favour at Tottenham.
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.”
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