More than 134 people were hurt when a Ford Galaxy struck crowds who were leaving the Liverpool waterfront after the parade in May.
He entered not guilty pleas to nine counts of causing GBH with intent, two counts of wounding with intent, 18 charges of attempting to cause grievous bodily harm with intent, dangerous driving and affray.
Those injured ranged from six months to 77-years-old.
Doyle, 53, was originally charged with seven offences, but at a hearing last month, a further 24 charges were added to the indictment.
He has pleaded not guilty to all 31 offences.
The incident took place on Water Street in a packed city centre just after 6pm on May 26.
About a million people came out to celebrate Liverpool’s title win and watch an open-top bus parade featuring the team and its staff with the trophy.
Doyle, from the West Derby area of Liverpool, appeared for the hearing by videolink from prison.
He was remanded in custody and is due to go on trial on 24 November.
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