I remember watching that series when it first came out. We were pretty big Star Trek fans back then, though not as hardcore as many. My wife actually submitted a script to DS9 (it wasn't accepted, sadly).
Sorry to be the downer here, but honestly, I thought Voyager was terribly disappointing. I think that basically TNG painted the franchise into a corner with its relentless progressivism, which I mean not politically, but in the sense that it created a universe where everyone was enlightened, everyone behaved themselves, there were technologies for just about everything (holodecks and the things that synthesized hot earl grey tea out of thin air with no need for a farmer picking tea leaves from plants), all of society's human failings had been solved, etc. The whole pilot episode was about proving to an overpowered cosmic being how enlightened they were. Over time that just ran them out of any resources to create a sense of struggle or adventure. TNG did a noble job of it but finally ran out of steam. You can only roll out the Borg so often.
DS9 tried to put some adrenaline back into it by putting its characters into a war zone with Ferengi and Cardassians around, but it didn't take long to smooth off all their rough edges and then you're sitting on a space station with nowhere to go (at which point you make up a wormhole to somewhere else and make the show about that).
So Voyager looked like an exciting reboot when they announced it. Catapult a federation ship across the galaxy, make them desperate, cut them off from everything familiar and their whole cozy enlightened society, put a hotshot bad boy pilot in the driver's seat (Han Solo anyone?), and bring back the adrenaline and adventure. But the bad boy was rapidly tamed into milquetoast, they never really seemed all that desperate, and the adventures, such as they were, were just more TNG stuff warmed over (we're picking up an anomalous energy field in space, shall we investigate?). 7 of 9 was kinda cool, and obviously easy on the eyes, but was a blatantly obvious ploy to salvage a dull series. When out of ideas, pull out the Borg, fans love that. Argh. It had its bright spots - I liked the hologram doctor too - but only a few of them.
When the new version of Battlestar Galactica came out, I think it actually achieved what Voyager had promised and failed to deliver. Characters that were actually deeply flawed and struggling, a situation that was actually desperate, choices to make - lots of them - that were really hard and took their toll on the people who had to make them.
