QR Codes are pretty robust. According to this article, "QR readers begin to have difficulty reading codes below a ratio of 4:1".
Plugging the color values of your provided QR Code into the tool linked in that article, you have a contrast ratio of 2.74:1. However, the two applications I have on my phone were both able to read your code, so this isn't an exact science we're dealing with.
Another consideration is the size of the QR code. I have tested this before; I was able to read codes down to 13mm. 12mm would not scan no matter how long I waited. 13mm would scan but not right away if I recall. 15mm seemed to be a safe choice:
Since you have this tagged under web-standards, I assume that this will be displayed on a web site. It is difficult to translate metric units to screen units, but hopefully this gives you some guidance.
If it's going to be on a web site, why not make the QR Code a hyperlink to what the code resolves to? If it's not going to be a hyperlink, perhaps set the decoded text as the alt text. It's always nice to have a fail-safe.