Benda previously represented Swansea City and Peterborough United in the Championship.
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Upon Benda signing his deal, Millwall's Director of Football, Steve Gallen, said, "I am very pleased to bring Steven to the club.
"We've been working on this loan deal for a few weeks, and we were very keen on getting it completed.
Gallen added, "Steven was one of several options that we were looking to bring in to provide competition to Max Crocombe and George Evans, and I'm glad we have, as he is a great goalkeeper."