Like most people here, I would rule that the PCs get a suprise round, and that the PCs are located outside the room when the surprise round starts. I.e. "the door busts open, and... what do you do? You have surprise, and you have one round of actions to act before the enemies join the battle."
I'm unsure if it was addressed in this thread (I read diagonally), but I would possibly make the PCs roll one stealth check from the PC with the worst stealth score, outside the room, to determine whether they are stealthy enough to beat the highest passive perception in the room. The closed door is enough to give at least advantage on the roll, or +10 if you feel more generous - depends on the door I guess. I don't like multiple stealth checks because when you have numerous d20 rolls, one pretty much invariably fails. I prefer a single group check.
If you prefer simply depending on the story, you can forego the stealth check and give the PCs surprise, which is also possibly what I would do. I cannot say that I have a preference for one way or another of addressing this between a stealth check to gain surprise and automatic surprise, it's really a question of how I feel about it, how the door was described (e.g. if it's the door to a wooden shed in a silent area, or the door to the king's private room with a party going on in the adjacent room, the situation is not the same), and so on.