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The defender, 31, had a spell at The New Den in the 2010/11 season before rejoining QPR for the third time.
Shittu provides some much needed defensive cover for manager Kenny Jackett with Paul Robinson and Tam Mkandawire both looking doubtful for the start of the season.
The experienced centre-half has signed in time to be eligible for the Lions' Capital One Cup first-round tie with Crawley.
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