Note that that syntax is inherited from the Bourne shell.
After the variable name, you can have either in to have the list of elements explicitly given, or do, to loop over the positional parameters.
for i in 1 2 3
do
echo "$i"
done
Or
set 1 2 3
for i do
echo "$i"
done
Having the do in both cases (even if it's not strictly necessary in the first one) makes for a more consistent syntax. It's also consistent with the while/until loops where the do is necessary.
while
cmd1
cmd2
do
cmd3
cmd4
done
You need the do to tell where the list of condition commands end.
Note that the Bourne shell did not support for i; do. That syntax was also not POSIX until the 2016 edition of the standard (for i do has always been POSIX; see the related Austin group bug).
zsh has a few shorthand forms like:
for i in 1 2 3; echo $i
for i (1 2 3) echo $i
for ((i=1;i<=3;i++)) echo $i
Or support for more than one variable:
for i j (1 a 2 b) echo $i $j
(though you can't use in or do as variable name in place of j above).
Even if rarely documented, most Bourne-like shells (Bourne, ksh, bash, zsh, not ash nor yash) also support:
for i in 1 2 3; { echo "$i";}
The Bourne shell, ksh and zsh (but not bash) also support:
for i { echo "$i"; }
While bash, ksh and zsh (but not the Bourne shell) support:
for i; { echo "$i"; }
All (Bourne, bash, ksh, zsh) support:
for i
{ echo "$i";}
ksh93, bash, zsh support:
for ((i=1;i<=3;i++)) { echo "$i"; }