Deep Space Nine. Once you get to the Dominion War stuff, it gets really good (the amputation episode, the recovery from the amputation episode), but without skimping on silly fun stuff (Nog's trading games). Basic premise includes some well-done real-world parallels (Bajorans ~ various oppressed peoples who turn to terrorism), including a look at the good and bad of religion. The good guys aren't always good, the bad guys aren't always bad, but it's not like everyone's in the grey or something. The characters are wonderfully acted and all around enjoyable, and Miles O'Brien is one of main characters. Not every episode is amazing and the early seasons are not as good at the later ones, but overall it's a great show.