I know you've already accepted an answer, but I think you'd be better off taking control for the format you're printing as follows:
list1 = ["a","b","c"]
list2 = ["A","B","C"]
list3 = ["1","2","3"]
for a,b,c in zip(list1, list2, list3):
print "%s %s %s" % (a, b, c)
The string formatting allows you to control exactly how you want the output to look. For example, if you want commas and not spaces you change the code to...
for a,b,c in zip(list1, list2, list3):
print "%s%s%s" % (a, b, c)
What my code is saying is...
"Using a string format of "%s%s%s" that expects three strings, plug in the values that you'll find in the tuple (a, b, c)"
Your original code was printing the string representation of a tuple. When you print a tuple, it happens to print with brackets and commas...
Printing tuple with string formatting in Python
... which is coincidentally similar to the format you wanted.