I had the same experience with ENT as you have, though I'd already seen most of Seasons One (which I thought was okay) and Four (which I loved) when they first aired. After going through the whole series on Netflix, I ended up really liking it and I consider it underrated, though I'll admit it does have some pretty rough spots.
I don't think I'm going to bother with VOY. I saw a good number of episodes back in the day and hardly any of them ever really wowed me. I like the Doctor and Seven a lot, but not enough to watch through that whole show.