Orthogonal time-frequency space (OTFS) scheme, which transforms a time and frequency selective channel into an almost non-selective channel in the delay-Doppler domain, establishes reliable wireless communication for high-speed moving devices. This work designs and analyzes low-complexity zero-forcing (LZ) and minimum mean square error (LM) receivers for multiple-input multiple-output (MIMO)-OTFS systems with perfect and imperfect receive channel state information (CSI). The proposed receivers provide exactly the same solution as that of the conventional counterparts, and reduce the complexity by exploiting the doubly-circulant nature of the MIMO-OTFS channel matrix, the block-wise inverse, and Schur complement. We also derive, by exploiting the Taylor expansion and results from random matrix theory, a tight approximation of the post-processing signal-to-noise-plus-interference-ratio (SINR) expressions in closed-form for both LZ and LM receivers. We show that the derived SINR expressions, when averaged over multiple channel realizations, accurately characterize their respective bit error rate (BER) of both perfect and imperfect receive CSI. We numerically show the lower BER and lower complexity of the proposed designs over state-of-the-art exiting solutions.