Born in Lincoln, Nebraska,[1] Doyle graduated from Campion High School in Prairie du Chien, Wisconsin in 1947.

[citation needed] He voiced Grandpa Lou Pickles on the Nickelodeon animated series Rugrats from 1991 until his death, after which he was replaced by Joe Alaskey.

He played Orgon in the 1964 premiere of Richard Wilbur's translation of Tartuffe at the Fred Miller Theater in Milwaukee.

[citation needed] His New York stage credits include Beg, Borrow or Steal, Something About a Soldier, Here's Love, I Was Dancing, and a revival of South Pacific.

The next year, while in a revival of the play South Pacific, Doyle met Anne Nathan, a singer dancer, and they married a short time later.