We introduce a new method ( Do ppler Ve locity R econstruction or DoVeR), for reconstructing two-component velocity fields from colour Doppler scans. DoVeR employs the streamfunction–vorticity equation, which satisfies mass conservation while accurately approximating the flow rate of rotation. We validated DoVeR using artificial colour Doppler images generated from computational fluid dynamics models of left ventricle (LV) flow. We compare DoVeR against the conventional intraventricular vector flow mapping (iVFM 1D ) and reformulated iVFM (iVFM 2D ). LV model error analysis showed that DoVeR is more robust to noise and probe placement, with noise RMS errors ( nRMSE ) between 3.81% and 6.67%, while the iVFM methods delivered 4.16–24.17% for iVFM 1D and 4.06–400.21% for iVFM 2D . We test the DoVeR and iVFM methods using in vivo mouse LV ultrasound scans. DoVeR yielded more haemodynamically accurate reconstructions, suggesting that it can provide a more reliable approach for robust quantification of cardiac flow.