Generally, I just wouldn'y want to be a minion. My purpose basically sums up as 'being cannon fodder for the hero'. I get no life of my own, plus my crappy AI would have me running into walls every 5 seconds, or just charge forward regardless of the hero's arsenal.
Actual character wise, I'd have to say Gannondorf. He tends to die in the most unpeasant ways. Skewered by arrows (First game), exploding after death (Link to the Past), sealed away for all eternity, but once escaped, gets stabbed in the face, turned to stone and left at the bottom of the sea (OoT and WW), Stabbed by mystical sword, sent to shadow worl, loses form, once escaped get stabbed in same spot by different mysical sword and dies standing up (Twilight Princess), and whatever unpleasant way they're going to kill him in Skyward Sword. Sure, I get to rule the world for 7 years, have the power of the gods and be really evil, and have a kidnapped princess by me on several occasions, but ultimatly, it's just not worth it.