Just to confuse things further, both CL and Forth give you control over parsing (reader macros in CL, direct access to input for immediate words in Forth). So you can make a more structured language out of Forth if you really want to, and you can get rid of parentheses in Lisp if they bother you, with enough effort.

(But, of course, it's less effort to just use a different language that has it out of the box.)