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Allen, who turns 22 later this month, left Priestfield last month after 18 months at the club when his contract was terminated.
He had spent much of the season on loan at Tamworth of the Skrill Premier and none of his six league and cup appearances for Gills this term came under Taylor.
Allen had planned a return to education after seeing his professional career halted, but has now signed a deal until the end of the season with ambitious Ryman League Premier Division side Gate.
Allen - the son of former Gills boss Martin Allen - made 42 appearances in total following his switch from Notts County, including 36, during which he scored twice, in the League 2 title winning success of 2012/13.
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