Sometimes simple cronjobs (with mutex) are a “good enough”. Unfortunately, I don’t know your special use cases.
There are a lot of different message queue implementations that you can use.
Usually, the queue itself is not implemented in PHP, but most of them have a client implementation that you can use. For example RabbitMQ and the php-amqplib client.
Have you tried https://github.com/chrisboulton/php-resque already to implement queues? This package is quite flexible, complex and requires Redis.
Which packages have you tried before?