Dorenbos was signed to a two-year contract by the Philadelphia Eagles on November 29, 2006 after Mike Bartrum suffered a career-ending neck injury. He played in the last seven games of the 2006 season, including 2 postseason games. He made two special team tackles in 2006. In 2007, he played in all 16 games for the Eagles, and on December 29, 2007, he signed a five-year contract extension that kept him under contract through the 2012 season. He made six total special team tackles in 2007. In 2008, he played in all 16 games for the second-consecutive season. He made five special team tackles in 2008. Dorenbos arrived late to training camp in 2009 after he caught shingles and could not get on an airplane to fly to Lehigh Valley, Pennsylvania, where Eagles training camp was held. He played in all 16 games in 2009, and made four special team tackles.