I've only played the 3D Zeldas on consoles, and it's no contest - Twilight Princess. The world is drab and uninteresting and too, like, generic Tolkein fantasy, and the story's not all that hot. Also, I don't dig the controls. It's just boring and not very good. It's hard to sort through the other four (although I suspect I would say Ocarina > Wind Waker > Skyward > Majora if I had to choose) but fifth place is simple. While Skyward and Majora's gameplay is not as good as Ocarina or Wind Waker, they make up for it by having superior stories/characterization. So it balances out. TP's got nothing on them.