The Irish has a 0-1 lead, but missed out on a place at the 2010 finals after France grabbed a controversy goal, following a handball by Thierry Henry.
“It is an obvious handball. I don’t know about the referee not seeing, but the linesman had as good a view as anyone on the pitch,” he told Sky Sports News.
“It is just embarrassing seeing that up close.”
Doyle event hinted that the presence of French president of Uefa Michel Platini may have counted against them.
He added: “I’m sure if we had done the same thing, it would have been seen by the officials.
“It is difficult. We are playing in Paris in front of a big French crowd. The president of Uefa is here and it is just difficult for us to get.
“I suppose it is a 50/50 decision. It’s just not on. I think he has caught it and pulled it back on.”
He added: “It is just instinctive on his (Henry’s) behalf, but it is that obvious that I’m sure he expected the free-kick straight away.
“I don’t blame him as much as how it’s not seen to be honest.”