The real benefit from HFT is what it has replaced.
Before HFT & direct access trading we had a closed system run by specialists and market-makers. Every single trade had to go through a specialist or MM. Spreads were wide and the system made incredible returns skimming each trade. That system was replaced by HFT which had the effect of opening the market up to anyone willing to run an HFT operation, tightened spreads and yes added liquidity. The fact that HFT 'skims' of trades is nothing new to the system, the real benefit is how much less we all get skimmed today than we did 20 years ago. Is it perfect? No. But it's a step in the right direction.