Both teams scored a try in the opening half but Valentine Holmes' conversion handed Queensland a lead at the break.
The visitors went further in front after the interval with tries from Daly Cherry-Evans and Holmes.
Cameron Murray pulled one back for the hosts but Queensland were able to hang on.
"That was the response that we wanted and any player who played last year, we wanted the chance to come back and show that the jersey means something to us, and it was a good start," said Queensland skipper Cherry-Evans.
