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Bradley Garmston has had his contract with the Gills terminated.
He reached agreement on a settlement with the club, leaving by mutual consent.
Garmston, 26, has been with the Gills since moving from West Brom in 2015, initially on loan.
The left-back played just over 100 games for the club over that time.
He hasn’t been in manager Steve Evans’ plans, however, this season, with his only two appearances coming in the EFL Trophy.
Evans said: “Bradley needs to play football. We offered to move him on back in the summer but he wanted to try and fight to get into the matchday squad, an admirable quality.
“Sadly that never happened. He will no doubt find a club, he's a really dedicated young man who just wants to play first team football at EFL level."
Garmston was recently subject of an approach from Ebbsfleet United, after former boss Steve Lovell took over there as director of football.
With his deal at Gills terminated before the transfer deadline, he is free to move to another club at the time of his choosing.