The pure Zinc Oxide, Cobalt doped Zinc Oxide and Manganese doped Zinc oxide nanoparticles were synthesized using Co-precipitation method. This work aims to study the effect of doping on the structural, morphological, and optical properties of the synthesized pure and doped ZnO nanoparticles. The structural and morphological change of the nanoparticles were examined by using X-ray Diffraction analysis (XRD), Scanning Electron Microscopy (SEM) and Fourier Transform Infrared Spectroscopy (FTIR). The elemental analysis was studied with Energy Dispersive X-ray analysis (EDAX). The optical property of the particles were analysed using UV-Visible Spectroscopy (UV) and Photoluminescence Spectroscopy (PL). The XRD results shows all the nanoparticles are crystalline and pure in nature. The doping effect found to decrease the particle size of the ZnO nanoparticles. The SEM images also show the doping has significant change on the morphology of the ZnO nanoparticles. The functional groups present in the nanoparticles were confirmed using Fourier Transform Infrared Spectroscopy. The optical property of UV-Vis spectrum shows red shift and the band gap also found to decrease for doped nanoparticles. The presence of dopants in the nanoparticles was confirmed with the EDAX spectrum. The results of above characterization techniques confirmed the doping has significant influence on the structure, morphology, and optical property of the ZnO nanoparticles.