Following are several Zend Framework 2 + Doctrine tutorials, with practical examples. The README is in portuguese (br), but the code speaks for itself:
ZF2 + Doctrine only: https://github.com/thiagopelizoni/zf2-doctrine
Restful https://github.com/thiagopelizoni/zf2-doctrine-restful
JQuery Datatable https://github.com/thiagopelizoni/zf2-doctrine-datatable
Database file upload https://github.com/thiagopelizoni/zf2-upload-tutorial