The aim of this paper is to establish two fundamental measure-metric properties of particular random geometric graphs. We consider $\varepsilon$-neighborhood graphs whose vertices are drawn independently and identically distributed from a common distribution defined on a regular submanifold of $\mathbb{R}^K$. We show that a volume doubling condition (VD) and local Poincar\'e inequality (LPI) hold for the random geometric graph (with high probability, and uniformly over all shortest path distance balls in a certain radius range) under suitable regularity conditions of the underlying submanifold and the sampling distribution.