Grep is useful if you want to quickly search for lines that match in a file. It can also return some other simple information like matching line numbers, match count, and file name lists.
Awk is an entire programming language built around reading CSV-style files, processing the records, and optionally printing out a result data set. It can do many things but it is not the easiest tool to use for simple tasks.
Sed is useful when you want to make changes to a file based on regular expressions. It allows you to easily match parts of lines, make modifications, and print out results. It's less expressive than awk but that lends it to somewhat easier use for simple tasks. It has many more complicated operators you can use (I think it's even turing complete), but in general you won't use those features.