Doroszewska replaces Jaroslaw Czubinski, who has been at the helm of the Polish embassy in Vilnius since 2013.
Grybauskaitė and the newly-appointed ambassador discussed cooperation in security and defense, the strengthening of energy security, and bilateral relations, the president's press office said in a press release.
The office underlined the need for Lithuania and Poland "to continue close cooperation aiming for a permanent presence of the US and other Allies in the region, decisions on regional air defense, fighting against propaganda and countering other hybrid threats".
"Both countries share the understanding of necessity to enhance European energy safety and security and reduce the EU's dependence on Russian gas. Synchronization of electricity grids and response to threats posed by Astravyets NPP are common interests of Lithuania and Poland," it said.
Doroszewska is a former advisor to Polish President Andrzej Duda on Eastern politics. She has in the past served as Poland's ambassador to Georgia and in the Chancellery of President Lech Kaczynski, who died in a plane crash in 2010.
Relations between Vilnius and Warsaw have been marred in the past decade by their disagreements over the situation of ethnic minorities and over Poland's investment in Lithuania's sole crude refinery in Mažeikiai.
Poland and Lithuania agree on many security issues, but differ significantly in their vision of the EU's future.
Poland's ruling Law and Justice party strongly criticizes moves by officials in Germany and Brussels and refuses to accept refugees under the EU's resettlement program.
Lithuania underlines the importance of solidarity in the EU and has established close relations with Germany. Vilnius seeks to maintain a neutral stance in disputes between the European Commission and Poland.