Ireland stunned Hungary 3-2 - with AZ striker Troy Parrott hitting a hat-trick - to reach the World Cup qualifying playoffs.
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Parrot's winner came deep into injury-time and watching from home, the goal sent Doyle into a state of euphoria in the RTE studio.
Off-camera scenes showed Doyle running around the studio before firing at Hungary captain Szoboszlai with an X-rated message.
Doyle appeared to say: "Suck on that you Liverpool c***," before apologising to former Reds midfielder Didi Hamann, who was also a pundit for their coverage.
Watch below (contains industrial language):