The 29-year-old was one of the Vikings most impressive perfomers in 2010 and was named in the Championship Dream Team.
But the Ireland international left the Stobart Stadium at the end of last season after the club decided not to offer him a new contract.
Haven chief executive Barry Richardson believes that Doran will prove to be a key player for the club.
“It is an excellent signing for us, and I’m surprised a Championship club hasn’t snapped him up,” he told the News & Star.
“He’s a strong-running player and is physical in defence, and he’s going to be a great asset to Whitehaven.”
Doran is expected to feature in Wednesday’s Northern Rail Cup match against Halifax at the Recreation Ground.