However, he has warned fans would still need to increase their support to avert financial hardship.
ESPN on Friday followed Sky Sports in announcing a five-year agreement with the SPL that also allows them to show Rangers games form the Irn-Bru Third Division.
ESPN said on Friday they would show 30 SPL games and 10 Rangers games, starting with Dundee United's opening clash against Hibernian on Sunday.
The broadcasters had been due to sign a new ?16million annual contract to replace their ?13million-a-year deal this summer, but the collapse of Rangers had given them an exit clause.
Doncaster told BBC Scotland: "There will be money coming out the game as a result of Rangers not being in the top flight.
"Whilst the money is not as high as we would have hoped, there is still some security.
"We will not be announcing figures at this stage. The numbers are down slightly and it's really for clubs to work with supporters to try to maximise income through the gates."
The SPL had privately warned of a potential ?15.7million shortage in TV revenue if the new Rangers ended up in the Third Division, which included the loss of ?2.7million in overseas deals that rely heavily on Old Firm games.
"There will be a seven-figure sum that we will be short," Doncaster said.
"There is significant damage done, particularly to the overseas rights, and it's up to clubs to try to fill that gap.
"Certainly there will be some financial hardship, these are not easy times.
"There's a financial gap that clubs have to work with."
St Mirren chairman Stewart Gilmour revealed cuts would still be needed at his club after the financial uncertainty of an "horrific summer".
Gilmour said: "There is still a requirement for the club to action some cost cutting to meet the downturn in income from this source. However, this will not be as severe as was first anticipated.
"This is still a very difficult period for any business and football is no exception.
"We thank our supporters for the way they have responded to the challenges the club has faced and we are delighted to see our season tickets have exceeded last year's figures."
Doncaster defended his worst-case scenario warnings, which were intended to persuade Scottish Football League clubs to allow Rangers to re-launch in the First Division.
"If we hadn't pointed that out it would have been irresponsible," he said.
"We have been able to work with broadcast partners and bring money in.
"Ultimately the confidence broadcast partners and the world at large has in Scottish football has shone through.
"They had the right to (walk away) and that's why we were clear that could be a possible consequence.
"As it is both Sky and ESPN have stood by Scottish football."
Doncaster rejected speculation, fuelled by Rangers chairman Malcolm Murray, that deals were being done to accelerate the Ibrox club's progress through the divisions.
"The broadcasters have made no stipulations about any particular club and where they might be within the league structure," he said.
"We have agreed a way forward that reflects the fact Rangers are not in the SPL."
Doncaster also dismissed accusations from Rangers manager Ally McCoist that the SPL had "as hostile an agenda as possible" towards his club.
"We have always made it clear we treat every club equally," Doncaster said.
"You would have to talk to him to understand what he meant.
"Certainly in terms of what we do at the SPL, it's all about the rule book. The clubs set the rules and we apply the rules without fear or favour to any club."
Rangers were accused of breaking those rules over alleged undisclosed payments to players and the SPL announced on Thursday night an independent commission had been formed to complete the investigation, which could see the club being stripped of titles.
Doncaster said: "It's for them to take whatever time they feel they require to come to whatever conclusions they do.
"It's an independent commission and we have to step back and allow them to come to any judgement they deem fit."
