Victims included a 6-month-old baby, whose stroller was flung into the air during the crash, to a 77-year-old woman.
Some of those hit were dragged under the vehicle, which was only brought to a halt after a parade attendee managed to enter the vehicle and hold the gear shifter in park.
Doyle, a former Royal Marine, pleaded guilty to a total of 31 charges including multiple counts of causing grievous bodily harm, affray, and dangerous driving.
Grievous bodily harm is akin to the offense of aggravated assault in the United States, while affray is similar to disorderly conduct.
Doyle had traveled into the center of Liverpool to collect some of his friends who had attended the parade, the court was told.
During that journey, he was seen undertaking other vehicles and running a red light.
Footage of the incident captured him careening down Liverpool’s Dale Street, seeming not to slow down, despite supporters filling the thoroughfare.
In video taken from the dashcam he had in his vehicle, Doyle could be heard swearing at the fans who were taking evasive action and pulling their children out of danger.
After approaching a line of traffic which was waiting to turn right, away from Water Street, which had been pedestrianized for the parade, he briefly came to a stop, before plowing into pedestrians who were walking in the road.
He continued to plow through the crowd until parade-goer and ex-soldier Dan Barr clambered into the back of the minivan and held the gear shifter in park.
Despite Barr’s actions, Doyle still kept his foot on the gas pedal while people lay trapped under the car.
When interviewed by police, Doyle told them he had seen someone with a knife, panicked, and drove off fearing he was about to be attacked.
However, police said they had come across no CCTV or eyewitness evidence that anyone in the vicinity was in possession of a knife.
Doyle, who had previously been convicted for violent incidents in the 1990s, including biting the ear of a sailor, was not to under the influence of alcohol or narcotics at the time, and no fault was found with the vehicle, a Ford Galaxy minivan.
“The dashcam footage of his journey into Liverpool city centre that day, is truly shocking,” he added, going on to describe Barr as “a man who can truly be described as a hero.”
As he handed down Doyle’s sentence, Judge Andrew Menary said the father of three acted in “inexplicable and undiluted fury” when he hurtled into pedestrians.
“It is almost impossible to comprehend how any right-thinking person could act as you did,” he told Doyle.
“To drive a vehicle into crowds of pedestrians with such persistence and disregard for human life defies ordinary understanding,” Menary continued, adding that his actions had caused “horror and devastation on a scale not previously encountered by this court.”