 Gillard started out at Tottenham Hotspur in the youth ranks before moving to West London and QPR where he made his debut in November 1968.Over the next fourteen years he made the left-back position virtually his own forming a formidable full-back partnership with Dave Clement for many seasons.He was an integral member of the 1975–76 team that almost won the First Division title, eventually finishing as runners-up to Liverpool.