I like best the best of each (most novels are worse than most episodes, for what it's worth), but find that the best of the novels tends to outshine the best of the television series (Vanguard, A Time To Heal, Rising Son, Twilight, A Stitch In Time, etc.). Then again, the novels lack William Shatner, Nicole de Boer, DeForest Kelly, and Johnathan Frakes.
I didn't want to be negative so I didn't say it, but that's pretty much exactly how I feel. Sometimes it can be a bit frustrating when you hit some of the books that are really low, but when you hit the book that reads like it was written just for you, it's all worth it.
I don't agree as much about that last line, because I'm pretty good at "hearing" the actors saying the dialogue in the books most of the time. It's still not quite the same, but pretty close sometimes.