John Harrar, Sam Sessoms, and Joshua Reaves were the first announced additions to the roster.
Lipka replaced 13-year Nittany Lion head coach Jeff Zinn, who retired after the 2024 season.
Doherty joins with experience at all levels, most recently from Louisville and Racing Louisville FC.
The Nittany Lions will kick off their season on Thursday, September 26.
Adam Cecere and JT Marr were named to the first team, while Travis Luensmann was named to the second team.
Penn State women's basketball brought in nine additions to its roster.