Devicemapper works (make sure you don't use loop devices) okay. Unfortunately it's slow to warm up, but it's probably the most tested storage driver (it's the default on a bunch of systems).
btrfs works pretty well and is quite a bit faster. It's the default for SLE and openSUSE (as well as other distros which use btrfs by default). I'd recommend it (but I can't remember if it requires you to use btrfs on your / partition, which might be an issue for you).
ZFS, while being an awesome filesystem, I doubt has had much testing under Docker, so I'd be wary about using it.
And I've already told you what I thought about overlay. I'd like to point out that it's a good filesystem for what it was designed for (persistent or transient livecds) but the hacks in Docker in order to use it for their layering keeps me up at night.
