Applying the thermodynamic extremal principle, a model for grain growth and densification in the final stage of sintering of doped ceramics was derived, with segregation-dependent interfacial energies and mobilities (or diffusivities). The model demonstrated an interdependence between the driving forces of grain growth and densification during sintering evolution, observed because the surface energy contributes positively to the driving force of grain growth while the GB energy negatively to the driving force of densification. The model was tested in alumina as a host system, and calculations demonstrate that dopants with more negative GB (or surface) segregation enthalpy or which cause lower GB diffusion coefficient can induce higher relative densities at a given grain size. Comparatively studying yttria- and lanthana-doped alumina, the lanthana doping showed significantly enhanced sintering attributed to the larger La3+ radius causing a more negative GB segregation energy. This present model is expected to help dopant designing to improve control over sintering.