The difference is that for builds a lazy sequence and returns it while doseq is for executing side-effects and returns nil.
user=> (for [x [1 2 3]] (+ x 5))
(6 7 8)
user=> (doseq [x [1 2 3]] (+ x 5))
nil
user=> (doseq [x [1 2 3]] (println x))
1
2
3
nil
If you want to build a new sequence based on other sequences, use for. If you want to do side-effects (printing, writing to a database, launching a nuclear warhead, etc) based on elements from some sequences, use doseq.