You can create a smart list to choose only "Queue Owned Leads"
Filters are "Lead owner email address" is empty AND "SFDC Type" is Lead (You can also add Contact)
This will give you the list of all leads owned by a queue, now you can change owner based on lead score, Choose "Change Owner", add choice, choose lead score between and enter your ranges. You can allocate ownership to a score, so every Sales rep will get certain range.