The 20-year-old had two spells at Meadow Park last season, scoring seven goals in 19 appearances for Wood.
Lucas has made three substitute appearances for Rovers having come through the youth system.
"By placing Jamie with us again, Darrell Clarke has shown his trust in what we're trying to achieve," manager Luke Garrad told the club website.
"Darrell knows that Jamie will get looked after correctly but Jamie must now really push on, start playing men's football on a regular basis and start realising his potential."
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Boreham Wood have re-signed striker Jamie Lucas on loan from Bristol Rovers until 28 January.