In this paper we obtain an explicit formula of Cauchy--Szego kernel for quaternionic Siegel upper half space, and then based on this, we prove that the Cauchy--Szego projection on quaternionic Heisenberg group is a Calderon--Zygmund operator via verifying the size and regularity conditions for the kernel. Next, we also obtain a suitable version of pointwise lower bound for the kernel, which further implies the characterisations of the boundedness and compactness of commutator of the Cauchy--Szego operator via the BMO and VMO spaces on quaternionic Heisenberg group, respectively.