I'd like to counter some of the arguments presented above. I've worked extensively with Zend Framework and symfony, and I've had a brief look at CakePHP.
First of all, compared to symfony, the ZF documentation is not "extensive" - its on the other hand quite superficial. Second, I think that the symfony community is much more available and helpful than the ZF framework in general, and the development process is much more transparent.
However, I agree that Zend Framework enjoys the advantage of being supported by Zend, which might be a powerful argument for enterprise projects.
In my experience symfony is more of a framework than ZF. In symfony you use the whole package - or the whole frame, while you in ZF is able to use tools to your liking, making it more like a "toolbox" than a framework.
Also remember that if you like some of the tools in ZF, you'll be able to use these in symfony (and probably also CakePHP) projects, alongside symfony/CakePHP.
This is not really an answer but more like a general comment to the answers given above.