He undoubtedly has his critics but Mileta Rajovic knows where the goal is and he scored a dramatic late winner as Watford beat Millwall 3-2 at The Den.

The Hornets led 2-0 entering the last 15 minutes but then got punished for sloppiness at the back and looked like they had thrown away two points.

But a minute from the end of normal time Rajovic headed the winner and Watford saw out nine minutes of added time to secure a win on the opening day.

There were no big surprises in the Watford line-up, with Jeremy Ngakia staying at left wing-back after playing there against Brentford.

Edo Kayembe continued as one of the two N0.10s alongside Giorgi Chakvetadze.

Recent loan signing Yasser Larouci was on the bench but there was no place for Antonio Tikvic.

The first-half followed a familiar pattern with the home flying out of the traps with vocal home backing, but soon that turned to frustration as Millwall created little and Watford grew in confidence.

There was a degree of luck about Kayembe’s goal but it came after a decent spell from Watford and, with the exception one very scary moment when the home side hit the post and had an effort cleared off the line, the Hornets looked solid and confident.

The second half saw Watford increase their lead with a magnificent Chakvetadze free kick and they looked well in control.

However, twice they made errors in their own half and both times Millwall capitalised, the equaliser coming in the 87th minute.

But then enter the big Dane, who was sniffing around the six-yard box and Tom Dele-Bashiru’s shot was deflected up in the air, and he headed home from close range.

7 – Early yellow card as Sierralta is booked for taking down Bradshaw after an under-hit Dele-Bashiru pass caused problems.

13 - First Watford goal attempt but Chakvetadze is way off target from 20 yards after a short corner.

20 - Andrews has space to attack, then cuts inside and shoots low from 20 yards, Jensen going down to push the ball round the post.

21 – Millwall 0 Watford 1 (Kayembe)

Straight from a corner! Kayembe's second successive corner curls over everyone and inside the back post.

33 - Lovely break down the left sees Ngakia slip in the breaking Chakvetadze, whose low shot is deflected and gathered by Jensen.

37 - Amazing let off as Watmore cuts into the box and appears to be fouled by Andrews. The ball runs to Honeyman who shoots against the post. His follow-up is cleared off the line by Porteous before Watmore, who was back on his feet, saw another effort smothered by Bachmann.

Half-time Millwall 0 Watford 1

49 - Another let off as Honeyman's free kick is met by Saville whose header comes back off the post.

55 – Millwall 0 Watford 2 (Chakvetadze)

What a strike. What. A. Strike. He won the free-kick, and Giorgi got up and curled a shot from almost 30 yards up and over the wall, into the top-left corner.

61 – Long break in play as Pollock and Leonard clash heads, and require bandages and a change of shirt.

68 - Watford break quickly and Chakvetadze carries the ball 30 yards. He has options left and right, tries to slide in Sissoko but the ball is hacked clear.

73 – Millwall 1 (Watmore) Watford 2

Cross was blocked but not cleared by Sierralta and Watmore thumped the loose ball into the roof of the net.

80 - Chakvetadze curls a corner into a very crowded six-yard box and Rajovic has to lean back and glances wide.

87 – Millwall 2 (Watmore) Watford 2

Great finish from Watmore but Watford gave the ball away midway inside their own half and if you do that, you generally get punished.

89 – Millwall 2 Watford 3 (Rajovic 89)

Dele-Bashiru cut in from the left with a shot, the ball was deflected up in the air and Rajovic ran in to nod home

90+4 - Porteous loses the ball, Saville crosses but Watmore shoots straight at Bachmann.

Watford: Bachmann; Porteous, Sierralta, Pollock; Andrews, Dele-Bashiru, Sissoko, Ngakia (Sema 74); Chakvetadze (Ince 90+3), Kayembe; Bayo (Rajovic 74). Subs: Bond, Louza, Vata, Morris, Baah, Larouci