Phil Parkinson's side take on Aston Villa in the first leg of their semi-final at Valley Parade on Tuesday night after overcoming Premier League sides Wigan and Arsenal in previous rounds, while their knack of winning penalty shootouts has also served them well.
"The character in the dressing room and the belief among this group of players is a key factor," Doyle said.
"But also to be able to enjoy the experience has been a massive thing. You don't get these games often, so you have to enjoy them.
"And to have the lads we have in our dressing room playing alongside each other, it's a fantastic place to be at the moment and long may it continue."
Former Hull and Barnsley midfielder Doyle, a product of Derby's academy, has represented England at Under-16, Under-17 and Under-20s level, but struggled to recall having played in a bigger game during his career.
"It's right up there," he added. "To be in the semi-final of the Capital One Cup is amazing. It's every boy's dream to go and play at Wembley and it's just surreal that we're here really.
"We're going to go out there and enjoy the experience. We've got a young squad and to be in this position in the cup and three points off automatic promotion at this time of year, it's amazing really.
"Whatever will be will be, but I hope the younger lads can take this experience and use it for the rest of their careers."