The Blades have enjoyed a fairytale run through this season's competition, with a 2-0 victory over Charlton Athletic on Sunday carrying them into the semi-finals.
A showdown with Hull City at the home of English football awaits, with Nigel Clough's side edging ever closer to major silverware.
Club captain Doyle appreciates that the Premier League Tigers will be happy with the draw and strong favourites to progress, but the men from Bramall Lane are starting to believe that anything is possible.
Doyle told Sky Sports News: "It's brilliant. It's been a great day for everybody involved at the club. This is what we wanted today, we wanted to get to the FA Cup semi-final and we managed to do it.
"The draw, although it is a very tough draw for us, it's probably the draw that us and Hull City wanted. Both teams have got an opportunity now to get to a cup final, so it's going to be very hard for us but I think we were happy to avoid Arsenal and Man City.
"We were probably the side that the last three teams that are involved would have wanted. Not many people have given us a chance, Hull are flying, but we've got this far now and taken some big scalps along the way, hopefully we've got another big performance in us and we can do it."
United feel they have unfinished business when it comes to Wembley visits, having suffered play-off heartache in 2012, but Doyle and co are determined to make the most of their next trip to the capital.
He added: "We lost the play-off final there a couple of years ago to Huddersfield on penalties, which was unfortunate on the day.
"It's obviously a fantastic stadium and we'll take a big crowd with us, I'm sure Hull City will as well, so we're definitely looking forward to it.
"Hopefully it's a full house and it's going to be a great experience because not a lot of players at a lower league level get this opportunity. It's one we're all looking forward to."
The Blades have another eight League One fixtures to take in before they turn their attention to Hull, but they could be absolutely flying by then having now come out on top in their last nine games in all competitions.
Doyle added on a welcome return to form and the boost a cup run has provided: "When the manager came in there were a lot of changes to be made. We had a really bad start to the season and it affected confidence. The manager certainly picked us up, he's galvanised us.
"I think the cup has probably been the backbone of our season because we got our first away win in a long, long time ago at Colchester, that was in the FA Cup, and it's gone from there.
"We went and beat Villa away, Fulham away, played a top Championship side in Nottingham Forest, so we've had some really big games in the cup and each time we have risen to the occasion.
"We've taken our cup form into the league and we're on a great run at the minute and we want it to keep continuing."