A motorized door opener for a vehicle (such as a military or security vehicle), featuring a sensor system that determines door position to prevent door damage while the opener is in operation. The opener features an offset gear system that effectively changes the door's rotation point. Mechanical advantage is gained by using a lengthened lever arm with the gear system, providing increased leverage and allowing the motor to provide enough force to open and close a heavily armored door. The opener can use existing door hinges, and can be provided so as not to protrude into the door space, in order to facilitate passenger and equipment entry/exit through the doors. A safety release mechanism is included in some embodiments, allowing the door to be manually opened or closed.