I honestly feel that a big part of the Voyager hate was Trek burnout. TNG overlapped DS9 which overlapped Voyager, and then there were all the movies. I have always felt that if they didn't overlap, or if there was even a year, or half a year in between the shows it might have been better. People could have built up a hunger for Trek. Plus you had a lot of the same writers working on all the shows so there were many story elements that were reused.
Trek burnout would never have been a problem if they went in diffrent directions each series rather than repeating the same story formula.