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Williams, who almost kept The Lions up single-handedly during the 2005/06 season, has joined The Glovers on a two-year deal after The Lions agreed to an undisclosed fee from the West Country side.
Millwall boss Willie Donachie had been keen to hang onto the 19-year-old despite their differences, but the winger has wanted to leave for some time after failing to secure a first-team place during Donachie's spell in charge.
"The manager here wanted me here and it's good to feel wanted because my situation at Millwall was not the best," Williams said.
"I haven't played much at all in pre-season and I haven't done that much training lately so I can't wait to get started."