I'd strongly recommend to think better how to title your question. Ask the "difference between" those 3 tools is an invitation to infame comments like "read the docs". Or some people will preffer to ignore a just scroll it up. But I get what you mean.
First, I think you should not want to "debug" the app in production. Setup some error report tool like Sentry to get notified and work on errors.
But getting back to your question, Telescope will give you more details and record all requests. But as you pointed out, it is not for production. You can have it in your online staging environment, clone your production db and test the requests against same data if you think it makes sense.
It might be acceptable to enable Telescope in production for a short períod to get some examples, depending on your business, but not so good idea.
Horizon is for queue management. Period. You should not even have included in this list.
Then, we have Pulse, that is a new tool in the ecosystem meant to be used in production, and can help you to monitor. Pay attention: "monitor" your app, not "debug". It will tell you that a query is slow, for example. So go to the logs and check your db structure. Not exactly a debug, but can give great insight.