Last updated on .From the section FA Cup
It was the first time in the history of the FA Cup that a League One team had knocked out a Championship team.
Sam Field's shot from close range gave Queens the lead, but Nsiala's goal leveled the game.
The admiral missed a chance in front of an open goal.
Promise Omochere volleyed home from a corner to give the hosts the victory.
It was the first time in the history of the club that they had been knocked out in the third round.
Five minutes before the break, Ilias Chair picked out Lyndon Dykes, who then set up Field to score.
The Rs' lead was short-lived as Danny Andrew found Nsiala who headed home.
Carlos Mendes Gomes was forced to leave the game in the second half due to an injury he sustained in the first half.
After his departure, the Cod Army took the lead in the same manner as their first, as Omochere pounced on Andrew's corner to send them through.
Neil Critchley is the manager of Queens.
I don't know where to begin with that. It was not good enough.
The mentality of the group was the most disappointing aspect of our play. We get that type of performance because we are not consistent with our mentality.
It has to change if we are going to accept mediocrity on a regular basis.
It was obvious before I arrived here. We have to do something about it quickly because at this time in time, we have to take a step back.