Crama moves to the New Den for an undisclosed fee and length of contract.
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Crama joins the Bees in 2020 from France's AS Beziers.
"Tristan is a player we've been watching for a while," Millwall director of football Steve Gallen said, external.
"He is a young, mobile centre-half who can handle the ball. There were a few clubs in for him but he chose us - I'm really pleased we managed to secure his signature."