Voyager, though different in many ways than other Star Trek series, is nonetheless a great chapter in the Star Trek saga. The characters are well developed, and the unusual situation allows for a creative array of episodes.
In the first few seasons, it is obvious that the actors (and directors) are still getting used to the characters they are trying to create. As such, the first season or two is a little chaotic, though there are underlying personal and situational themes. Regardless, the early season are most definitely enjoyable, and provide a good foundation for the seasons that follow.
Once the show gets underway, however, the characters are given more shape and depth, and the acting/directing vastly improves. The shows focus on a variety of subjects - interpersonal relationships among the crew, individual moral and spiritual issues, scientific anomalies, and time travel, as well as many other things. Both new and previously used aliens appear in the series, so while there are unfamiliar species (such as the Kazon), there are also ties to the original Star Trek villains.
I highly recommend seasons two and four - they stand out as two of the best.
Star Trek: Voyager, with its unique cast of characters and unusual mission, is a new way to explore the "final frontier".
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