First season Voyage to the Bottom of the Sea was closest to quality he ever got. Lost in Space had the Dr. Smith/Will/Robot to appeal. But Lost in Space is one of the reasons I can't buy the thesis that character-driven drama is somehow superior.
Appealing actors, constant action can in fact keep people watching through the show. The fact that Irwin Allen series didn't all get immediately canceled shows that! A lot of TV scifi since has imitated that, as well as his contempt for science (which is to say, reality.) Nowadays the notion that drab (but cheap) is acceptable is merely trendiness. It still has the Allen spirit.