I have some experience in Scala and only little knowledge in Clojure, but I programmed Lisp many years ago.
Lisp is a beautiful language, but it never made it to the world, because it was too limited. I believe you need a statically-typed language to develop robust systems. The type system in Scala is not difficult to master to benefit from it. If you want to do very advanced things with it to make your libraries idiot-proof, you can, but then you will need to study the type system a little more.
Scala favours immutable types, but you can use mutables without any problem, which you sometimes do need. Concurrency in Scala is very well implemented and frameworks like akka extend and enhance these possibilities.
Scala stands a better chance to become a mainstream language since it's a fuller language. I'm afraid that Clojure is too much like Lisp (but reimplemented on the JVM). I liked Lisp a lot, but it had too many disadvantages for real-life programs. With Scala I think we have the best of both worlds (OO and functional) in a clean marriage. On top of that, Scala seems to really catch on in the market.