Zamora scored with Rangers' first shot on target in the 90th minute as they overcame Gary O'Neil's dismissal to beat Derby County 1-0 for a place in the Premier League.
"It was a fantastic finish. I couldn't be more pleased," said Redknapp.
“I knew we would do it but I feel sorry for Derby, they played fantastic today and they deserved to win”
Rangers played for more than half an hour with 10 men following the dismissal of O'Neil after he tripped Johnny Russell as the Derby attacker burst towards the box.
Redknapp felt O'Neil might have escaped with a yellow card and admitted the decision had left his side hanging on.
"I thought he wasn't the last man, there was another defender behind him," Redknapp added. "I thought he would get a yellow but that's life.
"We were bang in trouble but we showed great character and it was amazing. That was a one-off where you stand on the touchline, hanging on for grim death and get a goal like that.
"I wanted to do it for the people here [at Wembley], the owners and the players. They are fantastic people."
It was also good news for owner Tony Fernandes - with QPR have spent a fortune on wages - which were no where near balanced by their £30 million parachute payment - the balance of the £60 million would have come in year two of they had stayed down. But the promised riches of the Premier League - with Fernandes saying they 'had learned some lessons' may enable QPR to try and improve their balance sheet.
They are already under scrutiny from the Football League for potentially breaching fair-play rules and this issue looks unlikely to go away despite their promotion. But the £100 Million plus pay day is sure to help.