The 29-year-old midfielder has linked up with manager Micky Adams for the second time in his career after leaving Coventry on a free transfer.
Speaking to the Yorkshire Post, Doyle said: "Once I knew Micky was interested, I knew this was where I wanted to be.
"I want to play my part in helping this club stay in the division.
"When Micky came in at Coventry, the club was in a similar position. He turned things around there and we went on a great run.
"There are 19 games left and until we get to 51 points we are not safe. We have to get those points as quickly as possible."