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The 35-year-old joined the club in the summer and was instantly installed as club captain by former boss Nigel Spackman but the ex-international found the commute from Scotland to South London too much to take - the midfielder had been travelling to train with the squad while his family remained North of the Border.
"I missed the family when I was down south during the week and my wife is pregnant so I felt it was right to come back to Scotland."
"I went there in the summer on a two-year deal but with an understanding that I would review things after six months to see how I was getting on with the travelling," McInnes told the Saints website.
McInnes made just 14 appearances for The Lions during an injury-blighted six months at The New Den, scoring one goal but he appears to retain some affection for the club, despite his brief stay.
"Millwall are such a professional club," he continued. "I would have loved to have gone there earlier in my career."