Those two interpretations are close, but not quite right. It means this:
Anyone who does something worthwhile is criticized for it.
This is an elegantly worded sentence. Here's how it can be broken down:
First untangle "for which" to this easier order.
"anything for which X is not criticized" → "anything that X isn't criticized for"
Add the adjective "worthwhile" to describe what kind of things you mean.
"anything that is worthwhile and that X isn't criticized for"
Attach this to subject and verb, and be careful to notice the double negative.
"No one ever does anything that is worthwhile and that he isn't criticized for"
→ "Whenever someone does anything worthwhile, he is criticized for it"
The rest is just nicer phrasing and cutting out unnecessary words.