How to list specific type of files in recursive directories in shell?

find . | grep "\.doc$"

This will show the path as well.

ls command output is mainly intended for reading by humans. For advanced querying for automated processing, you should use more powerful find command:

find /path -type f \( -iname "*.doc" -o -iname "*.pdf" \) 

As if you have bash 4.0++

#!/bin/bash
shopt -s globstar
shopt -s nullglob
for file in **/*.{pdf,doc}
do
  echo "$file"
done

If you are more confortable with "ls" and "grep", you can do what you want using a regular expression in the grep command (the ending '$' character indicates that .doc must be at the end of the line. That will exclude "file.doc.txt"):

ls -R |grep "\.doc$"

More information about using grep with regular expressions in the man.