For Symfony 3+:
php bin/console
will list all commands, the following are relevant for cache:
php bin/console doctrine:cache:clear-metadata
php bin/console doctrine:cache:clear-query
php bin/console doctrine:cache:clear-result
Before Symfony 3:
app/console
will list how you can do it
app/console doctrine:cache:clear-metadata
app/console doctrine:cache:clear-query
app/console doctrine:cache:clear-result