Warnock, who led Rangers back to the Premier League from the Championship last season, parted ways with the club after a string of disappointing results left them just a point clear of the drop zone.
Speculation is already rife over who will succeed Warnock, with former Fulham, Manchester City and Blackburn boss Mark Hughes a hot favourite.
Sky Sports pundit Wilkins, who spent two stints at Loftus Road during his playing days before taking over as manager between 1994 and 1996, is another name to have been linked with the role.
And the 55-year-old, whose last managerial post was as assistant boss at Chelsea, says he would jump at the chance to return.
Asked if he could be tempted back to West London, he told Sky Sports Radio: "Oh yeah, no question about it. It would be a delight to go back and help them out. It would be an absolute pleasure to go back.
"I thoroughly enjoyed my stint there before, I enjoyed my time at Chelsea. I think I've probably grown in that field quite a bit over the last couple of years. So it would be very pleasant to take on."
He added: "If what I'm saying at the moment puts my hat in the ring then yes, that's the case."
As well as Hughes, Dutch duo Guus Hiddink and Ruud Gullit are two other names thought to be in the frame for the post.
Wilkins believes all three could prove a good fit at Loftus Road, adding: "I think Mark Hughes is a very good contender. There's no reason why Mark's name shouldn't be in the frame.
"I've not seen Guus' name mentioned but he's a good man. He's a good football man as well. He loves London, so there could be a possibility.
"I'm sure Ruud would jump at the opportunity to have another bash at it. It didn't go too well for him in Russia (managing Terek Grozny) but I'm sure he'd jump at the opportunity."
Wilkins admits, in the current climate, Warnock's sacking did not come as a surprise but does not expect the manager to be unemployed for long.
"I'm never surprised anymore in football. I think surprised is a word we should take out of our vocabulary as far as football people are concerned because it happens so often," he added.
"Unfortunately we do live in a results-based business and the results haven't really been what Neil, I'm sure, would have wanted this season.
"Neil will be sought-after and don't be surprised if that happens in this January window either. Neil's record as a Championship manager is second-to-none."