Here are some of the big innovations each company has done:
Nintendo:
-Really brought back gaming after the big crash with the NES
-First controller with d-pad, 4 face buttons and L and R buttons/triggers
-Put out the first game that let you save your progress
-Started the slim console trend
-First controller to bring an analog stick (N64)
-First controller with rumble attachment
-First wireless controller
-Revolutionalized motion controls
-Revolutionalized the handheld gaming market
-First controller with touch screen
Sony:
-First controller with dual analog sticks
-First controller with built in rumble features
-First console with a memory card
-Pushed the limits of disc storage to what we have today
-Introduced DVD and Blu Ray to home consoles.
Microsoft:
-First console with a build in harddrive
-Really pushed online gaming to what it is today
-First HD console
-First one to come out with Achievements/Trophies
(If there is anything big that I missed let me know and Ill add it)