The 29-year-old was found dead on a footpath at Reserve Park at Slacks Creek, south of Brisbane, on Wednesday morning by a local resident.
Charges were laid on Sunday, following extensive searches of the park by police, forensic officers and SES crews for clues.
Daniel Roger Ramsey has been charged with murder, breach domestic violence and drug offences.
The 28-year-old did not appear in Beenleigh Magistrates Court when the matter was heard on Monday.
Ramsey will remain behind bars until his next court appearance on October 1.
Police had previously raised suspicions Mr Doyle had met someone at the park before the attack.
They did not know how long he had been dead in the park and did not find a weapon in the immediate area despite numerous searches.
Mr Doyle's sister Zoey shared the heartbreak of her brother's death, saying he was "senselessly taken" from their family.
"A loss that has shattered our family, leaving his parents heartbroken," she wrote on a GoFundMe page.
"Trevor's absence leaves an irreplaceable void."
She remembered Mr Doyle as a "beautiful soul", with the family wishing to farewell him with a tribute that embodies their love.
"Trevor was a vibrant, funny, cheeky, and kind-hearted man who touched many lives with his love and warmth," she wrote.
A GoFundMe had raised nearly $1000 to help the family with funeral costs as of Monday afternoon.
Friends also took to social media to pay tribute to Mr Doyle, fondly remembered for being a good friend at the Indigenous Murri School in Brisbane and a keen dancer.
"How cruel is this world. I remember going (to) school with him and he was a real character ... Always wore a smile," one friend wrote on Facebook.
"I'll never forget Trevor, every time I saw him he'd give me the biggest hug, and no matter what y'all were going through, he always looked out for you," another friend wrote.
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