Polymer self-assembly is a powerful approach for forming nanostructures for solution-phase applications. However, polymer semiconductor assembly has primarily been driven by solvent interactions. Here, we report poly(3-hexythiophene) homopolymer assembly driven and stabilized by oxidative doping with iron (III) p-toluenesulfonate in benzonitrile. By this improved method, dopant mol % and addition temperature determine the size and morphology of oxidized polymer nanostructures. The dopant counterion provides colloidal stability in a process of dopant-stabilized assembly (DSA). Each variable governing polymer assembly is systematically varied, revealing general principles of oxidized nanostructure assembly and allowing the polymer planarity, optical absorption, and doping level to be modulated. Oxidized nanostructure heights, lengths, and widths are shown to depend on these properties, which we hypothesize is due to competing nanostructure formation and oxidation mechanisms that are governed by the polymer conformation upon doping. Finally, we demonstrate that the nanoparticle oxidative doping level can be tuned post-formation through sequential dopant addition. By revealing the fundamental processes underlying DSA, this work provides a powerful toolkit to control the assembly and optoelectronic properties of oxidatively doped nanostructures in solution.