Lost Odyssey, Tales of Vesperia or Star Ocean

[big_boss]

ToV IMO is the best one out of the three. Gameplay is solid and challenging, the story is well told through really good voice acting and evens out the dull parts with great humor, plus there's a good number of characters you meet along your journey that in their own little way bring you into this fascinating and fantastic world of Terca Lumireis.