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The original for me, it was a small revolution in gameplay when it came out and is still one of the most intense FPS games I've ever played. 2 was ok, 3 was boring.
Modern Warfare is solid but way too cheesy for my tastes as far as the "story" goes. World at War is by far the worst in the series and is the only installment (except MW2) that I haven't finished.
MW2 was a massive letdown for me, its more over the top than the first one but that isn't always a good thing and it resorts to some of the cheap gameplay elements from WaW that I hate intensely (infinite enemies unless you advance etc, makes the whole thing incredibly unrealistic).