Doppler spectroscopy was the first technique used to reveal the existence of extrasolar planetary systems hosted by solar-type stars. Radial-velocity surveys led to the detection of a rich population of super-Earths and Neptune-type planets. The numerous detected systems revealed a remarkable diversity. Combining Doppler measurements with photometric observations of planets transiting their host stars further provides access to the planet bulk density, a first step towards comparative exoplanetology. The development of new high-precision spectrographs and space-based facilities will ultimately lead us to characterize rocky planets in the habitable zone of our close stellar neighbours.