Peart-Harris has joined the Championship club on an initial short-term deal.
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Brentford director of football Phil Giles said: “Myles has been with us for a few seasons. He has worked extremely hard and always been someone we’ve enjoyed working with.
“He has had a few loans so now is the time for a permanent move and to start to play matches regularly.
"We wish him well at Oxford and in his future career.”
Pear-Harris made his debut in yesterday's FA Cup third round win against MK Dons.