Since Qt5.11 there is Qt OPC UA which is an official Qt module. It currently (Dec. 2018) is still a tech preview, but aims to become a fully stable module in 5.13 (Mid. 2019).
Qt OPC UA is not a complete stack but a standard API for Qt with the goal of making it easy to interact with OPC UA devices/services from within Qt. In the background Qt OPC UA relies on an OPC UA SDK. There are currently two plugins (Unified Automation and open62541).
Qt OPC UA is either part of Qt for Automation (then you need a license) or is available as a regular tripple licensed Qt module. Qt OPC UA only ships with the official installer if you have a Qt for Automation license. If you don't you need to compile it yourself. See here how to do it: https://blog.basyskom.com/building-qt-opc-ua-with-open62541/.
I have already successfully used Qt OPC UA with the open62541-backend on Android and iOS.