Here's a table since 2000 according to Media Create:

Clearly anything above 4m+/year is considered excellent. PS2 still has the highest home console sales of all time so that should serve as a reminder of that. 5m+ is extraordinary. And yes, nothing has come or probably will ever come close to what the DS sold in 2006-2007, maybe 3DS will get to 6m this year and take 3rd place on the all time list.
Also amazing that PS2 didn't even sell 4m in 1 year. Shows you how good 3DS sales are at the moment!







