High efficiency Doherty power amplifier (DPA) based on linearity extension of main amplifier using switching of auxiliary amplifier is proposed in this paper in the UHF band for RF-based wireless applications. The proposed structure consists of two conventional power amplifiers, class-AB as the main amplifier and class-C as the auxiliary amplifier. Two similar transistors of HFET GaN technology are used while micro-strip λ/4 lines are employed for inductance modeling and matching circuits. Optimal power divider as the first element of the proposed DPA has the main effect on the improvement of the performance of the suggested circuit. Using the proposed structure, bandwidth property improvement and higher efficiency and gain have been achieved compared to other efficient works in this filed. The proposed power amplifier has 94.53% drain efficiency at the frequency of 2.04 GHz, high gain as 15.85–17.32 dB, saturation output power as 42 dBm and peak to average power ratio (PAPR) as 5.25 dB.