A Costas loop is one of the classical phase-locked loop based circuits, which demodulates data and recovers carrier from the input signal. The Costas loop is essentially a nonlinear control system and its nonlinear analysis is a challenging task. In this article for a modified QPSK Costas loop we analyze the hold-in, pull-in and lock-in ranges. New procedure for estimation of the lock-in range is considered and compared with previously known approach.