The 19 year old, formerly of Charlton Athletic, spent time on trial with the Gills last season and obviously impressed enough for Andy Hessenthaler to call him back for a second chance.
Carter has signed a first year professional contract, and the left back now has a chance to develop his talents in League Two.
"Joe's got a nice left foot, he's good on the ball and he's an intelligent player. He's looked promising in training and we've been impressed with him so we're taking him to the end of the season." Hessenthaler said.
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