Voyager was my hands down favorite series. It's pure and simple Star Trek, it's exploration. Voyager has a TON of really cool twisty episodes, the BEST Borg action in ANY Star Trek series, NO Federation political scenes to bore the hell out of you. It's all about Exploration, boldly going where no Man has gone before, which is true since the Delta Quadrant is practically unexplored. The entire series has the crew of the USS Voyager meeting new civilizations and the writing is pretty good a lot of the time too. There's always the underlying plot to it, which is that the crew gets thrown into the far depths of the Delta Quadrant and are now making their way back home, but this series in itself is ALL about going back to space exploration like Star Trek was intended to. None of this sitting around a space station Soap Opera DS9 was, which eventually turned into an all-out war (neither scenario is really appropriate for the series though either)
My dad and I used to watch it almost religiously when it played. He used to joke at the "Magic reset button" episodes where the crew and Voyager got fucked and killed but somehow through a twist of time warpage, they get saved and start back at the beginning of the episode (minus the mess that killed them happening this time of course)