Abstract In this paper, a model‐free H ∞ control method is developed for discrete‐time linear parameter‐varying (LPV) systems by leveraging Q‐learning, which employs the data encompassing system states, control inputs, exogenous disturbance, and time‐varying convex hull rather than the dynamical model known a priori. A policy iteration algorithm presented via linear matrix inequality formed by such collected data is developed with convergence guarantee. Our analysis demonstrates that, in the presence of sufficiently rich disturbances, the attenuation level converges to a lower value than the traditional H ∞ control solution derived from an exact LPV model. A numerical example is demonstrated to verify the stabilization, disturbance attenuation, adaptivity, and convergence of the H ∞ attenuation level. Moreover, a continuous stirred tank reactor (CSTR) approximated by a discrete‐time LPV system is employed to show the practical potential of the developed model‐free approach.