The Manchester City trio helped Lee Carsley’s side maintain their unbeaten start to European Championship qualifying with a 1-0 win thanks to Emile Smith-Rowe’s breakaway goal in the 67th minute.
The Young Lions enjoyed 80% of possession at the Estadi Nacional, where Rhian Brewster was sent off for a second bookable offence ten minutes into the second half, but struggled to create meaningful chances in attack.
Palmer, who started on the right of a front three, was withdrawn after 65 minutes, with Doyle and Harwood-Bellis, who are on loan at Hamburg and Anderlecht respectively, completing the full game.
The result leaves England third in Group G behind Albania and the Czech Republic, with seven points from three games.
Earlier in the day, two on-loan players from City’s Elite Development Squad were involved as England Under-20s scored five without reply against the Czech Republic.
Morgan Rogers was involved in three goals, whilst goalkeeper James Trafford, who is spending the 2021-22 campaign at Accrington Stanley, kept a clean sheet before being substituted in the 80th minute.
Bournemouth loanee Rogers enjoyed a fine afternoon.
His parried shot allowed Adam Stansfield to net England’s second, and the two combined again before the City winger crossed for Tino Anjorin to convert.
The 19-year-old then got himself on the scoresheet with a 10-yard drive which was aided by the recovering defender’s attempt to clear the ball.