There are no horrible characters on Voyager, but many average characters. Some missed oppertunities on Chakotay, Kim, Kes and Neelix.
My favorites are Janeway, the Holodoc and Seven.
...and any Star Trek Series has it's own Highlights of Characters:
TOS: Kirk, Spock and McCoy
TNG: Picard and Data
DS9: Sisko and Dax
VOY: Janeway, The Doctor and Seven
ENT: Archer and T'Pol.
These are MY favorites of all Star Trek Series.