The forward has moved to Palace on loan until the winter window.
The Eagles beat the transfer deadline to sign the 30-year-old, who spent a significant portion of last season on loan at QPR.
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Doyle becomes the club's third signing of transfer deadline day, following the arrivals of Zeki Fryers and James McArthur, while Glenn Murray has been allowed to join Reading on another short-term deal, which also runs until January.
Murray struggled to establish himself in the Palace starting XI after suffering a cruciate ligament injury in the club's promotion-winning season and will now continue his career in the Championship.