Six-times world champion Davis joined the WPBSA board in 2009 and was re-elected while 1997 Crucible champion Doherty was co-opted earlier this year and elected for the first time on Tuesday.
"I am delighted that Steve and Ken have both kept their places on the board," said WPBSA chairman Jason Ferguson.
"They are two of the sport's most experienced players and they bring a vast amount of experience and knowledge to the table, as well as the perspective gained by being current professional players.
"Snooker has made huge strides forward as a global sport over the past three years and we continue to support the work being done by World Snooker in creating a bright future for our members."
Mike Dunn, who made a 147 in this year's German Masters qualifiers, was unsuccessful in his bid.
Steve Davis: 21 votes for, 1 against
Ken Doherty: 18 votes for, 4 against
Mike Dunn: 3 votes for, 19 against