bottom line ... it's kind of like an entire series of B-grade TNG episodes, with some huge stinkers thrown in for spice.
The premise was great, and the pilot episode was very good. But ultimately, the cast has neither the talent nor chemistry of the TNG cast, and the writers played it way too safe. It wanted to be TNG 2.0, but didn't quite have the chops to pull off anything as great as TNG's best episodes. That said, The Doctor and Seven of Nine were great characters, and episodes that focused on them tended to be Voyager's strongest. The show leaned a little too hard on technobabble-as-plot to both cause and resolve problems.
I loved the premise --a starship stranded 75 years away from Federation space at maximum warp, nevertheless trying to make the epic journey home, having to make due with just their wits and their resourcefulness, having to scrounge and negotiate with unknown species for supplies, having to make tough, desperate decisions that were sometimes at odds with their 24th century values. Originally, it was billed that every time they used one of their precious photon torpedoes, it would be a big deal. It was promised that over the years, without access to a Federation starbase, the ship would become increasingly rundown and makeshift. it coulda been great!
But none of that happened. The writers had Voyager acquire a bunch of overpowered technology, and they never really felt particularly threatened. I mean, at one point, Voyager basically single-handedly defeated the Borg collective. It just removed all sense of stakes or drama, and made them feel invincible, i.e. boring. Any kind of need or shortage on the ship never felt particularly urgent -- shortages were only mentioned not to really up the drama, but instead as an excuse for why they were visiting planet X, Y, or Z, where they would inevitably kick the ass of whoever opposed them. The writers then introduced Species 8472, a race that had fully conquered an alternate dimension and was making short work of the Borg. So Janeway and her ship encased in plot armor go defeat those guys too, just for fun i guess. An entire UNIVERSE worth of aliens versus one Federation ship designed for exploration ... and Voyager wins. okay. great. sure. fine. whatever. go humans.
I dunno, i guess i was expecting a series where the characters were more desperate and endangered, forced to make more compromises and sacrifices. Also, there was never really much sense of a journey taking place. It felt a lot like TNG, where they were just kind of tooling around the galaxy having random adventures. And then in the final episode, they get home instantaneously by using a Secret Borg Warp Zone or whatever. Hooray, i guess. Voyager's premise would have thrived from a more serialized take (a la DS9), but somehow they managed to make it feel like there was even less continuity than TNG -- a show which was deliberately episodic.
i know it sounds like i'm totally clubbing it, but i don't hate Voyager at all. it was mostly basically fine. not great, but fine. i am just disappointed that it didn't come close to living up to its great premise.