Tinman12
A lot depends on the manufacture of your vehicle. Some door handles are held in place with an allen set screw. Others have a clip sort of like the letter "C". Those you have to separate with a flat tip screwdriver and pull the broken handle. The actual clip slides over the handle and falls into slots already cut out into the handle. Once you have the handle and clip out, you can figure out how it secures to the steel pin of the door opening mechanism. But for all intents and purposes, it is better if the door is open. You can also check with a local junk yard. They might be willing to show you how easily it comes off.

KJGrant
Call a professional locksmith or a local towing company and find out if they can open he door. In most cases, either one can open the door with a special set of tools.