First and foremost the car shud be less than 5 yrs old, i.e. 2009 model or higher. You cannot import a car older than 5 yrs into Doha, from anywhere.

Secondly you pay 5% of the current market value in custom duty. Current market value is determined by the custom authorities.

No other taxes to be paid in Qatar.

Exception tho: you DO NOT pay any custom duty for a vehicle which is less than 2 yrs old.

However, generally this 2 yrs is calculated from the date the vehicle was entered/shipped to the UAE, and not when it was released from the showroom. This date of shipment will be verified by the doha authorities if you want to be exempted from the customs.

Rest is simple, once the vehicle is in the country and you have the customs papers, take the vehicle to the inspection center in industrial area for technical check etc. It shud cost around QR400 more for the registration, insurance is extra.

If anyone has more updated info pls feel free to share.