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The 23-year-old, who enjoyed a three-month loan speel with Championship rivals Queen's Park Rangers earlier in the season, made 21 appearances for The Baggies and is manager Dave Tuttle's second signing in a week.
"I'm grateful to Millwall for giving me this chance," he told the club's official site. "I'm really looking forward to getting out there and helping the club move up the table."
Manager Dave Tuttle added: "I think Lloyd will really get the crowd buzzing down here. He's quick, direct, gets crosses in and will give us a new dimension."