Doyle's high school coach Matt Herting confirmed the news to Scout.com.
"I think he felt really comfortable," Herting said. "They did a really good job recruiting him. There were a ton of schools recruiting him. When push came to shove it came down to two schools."
"He had a great visit up there and he was really impressed," Herting added.
According to Herting, Miami was also under strong consideration as well.
"They really generated a huge buzz in our area," he said of Miami. "They had been recruiting Ricky for a couple of years. He's been over there to games and stuff. I think Michigan and Miami were way ahead of anybody else."
Herting said he was surprised when he received the phone call from Doyle Monday morning.
"He called me this morning at about 6:30 before school and he was still up there and we had talked about taking all five visits and taking his time," he said. "He was going to visit one other school, but he called me this morning and we talked about it. He was excited and he said he didn't really want to look around anymore."
Doyle, a 6-foot-8, 235-pound post player, is a good fit for Michigan's style of play, according to his coach.
"I think it's great," Herting said. "He's a guy that can do a lot. He's already a real good player and he's only 16 years old. I think it's a great style of play and a great fit."
Doyle is Michigan's first commitment in the 2014 class.