In my opinion.
Positives:
Good character cast.
Some really good individual episodes.
Good arc for Seven.
Good premise.
Negatives:
No commitment to premise.
Lots of mediocre to terrible episodes.
Some major recurring villains that just didn't work.
Overly safe and unwilling to take any real risks.
Boring human characters, Neelix annoying.
Overuse of tropes and other things that just didn't make good TV (Holodeck malfunctions, nearly getting home then not, TNG cartoon version of Ferengi, etc)
And, I think this is how most people see it.
I agree with each of the positives, and will add one. The Delta Quadrant feeling very different in the first couple seasons, particularly season 1 with 1/4 of the produced episodes having nonhumanoid life. Also, there didn't seem to be any large empires or groups of species working together, either by cooperation or by force. The Federation in the Alpha Quadrant, the Dominion in the Gamma. I think that might have been an unintentional reflection of
Voyager's situation by the writers, but it did set the quadrant apart.
Regarding the negatives...
I agree with the first two points.
Regarding the recurring villains, given the premise of the show, they would have to rotate them, since they are heading away from the Delta Quadrant. This is a double-edge sword, since ones that were interesting would have only a limited amount of time on the series they might get the rushed treatment just to have episodes under that race's belt. But the uninteresting ones, you can quickly get past them and move on to the next. My one complaint of this was from season 6 onward, specifically starting with "PATHFINDER" to the finale, they should have had more recurring ones, since they didn't make any great jumps toward home after "THE VOYAGER CONSPIRACY". The Kazon may not have been interesting, but at least having them recur in the first two seasons is consistent with the lack of great progress home. (I was sorry to see the Vidiians go. I thought they were great. And the Vaadwaur SHOULD have been recurring in those last two seasons. I loved their concept and execution.)
Overly safe/lack of risk taking, I agree.
Boring humans... some, yes. I think the problem was Chakotay and Kim... they just didn't know what to do with them. They each had some really great episodes, Chakotay a few more than Kim. But otherwise, they were background characters with a few lines and button pressing. DS9's secondary characters had more meat in their appearances than either of them.
Neelix annoying, no. Given what happened to his family and his rather tragic past, it makes sense that he would be so exuberant.
"JETREL" was a necessary episode for him, because without it, he could very well have been seen as annoying throughout the rest of the series by virtually everyone... even me. The writers were smart to do that episode for him.
Holodeck issues... agreed, but to be fair, it was a trope that VOYAGER could get away with using as much as they did, since that was the crew's main way of relaxing and not going insane being stuck on a ship endlessly for years.
Nearly getting home but not... it was really only used in the first two seasons, and the "FUTURE'S END" two-parter was really the last time they did. While it was overdone at first, they were smart enough to stop when they did. Afterward, it was jumps forward home instead of the quick shot, so it did feel like earned progress.
The Ferengi... both times, their appearance was terrible. "FALSE PROFITS" and "INSIDE MAN" were terrible episodes. The latter should never have happened, but "FALSE PROFITS"... at least they got the episode out of the way, because if they didn't make it and the series ended, it would have been one of those "It was a story waiting to be told. Why didn't they?" situations in fandom.
