Britain also had five fourth places and Doyle believes the future is bright after the London championships.
Skipper Doyle said: "You've got to look at the bigger picture. We've made the target but we've also had some really excellent results.
"Look at the sprinters. The 4x100m boys are world champions. They beat America, they beat Jamaica.
"But also you look at the finals and personal bests - how many people finished higher than they were ranked coming in?
"If you look at the team as a whole, we've performed really well. We might have just made the medal target but sometimes that's irrelevant. You look at the bigger picture and I'm super proud of this team."
