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OK, time to become unpopular. In my opinion the worst is Wind Waker, though I'll note that I've never played Majora's Mask (that'll change when the 3DS remake comes out)

Yeah, sorry Wind Waker, I love you, but the main 3D Zelda games are of such prodigious quality and Wind Waker is just a little bit worse than the others for me. The sailing can be dull, the dungeon design is middling, the game is short in comparison to the others, and it just left the least impression. Like I say, in any other series Wind Waker would be the best, but for a Zelda game more can be given.

Without reading the comments, I'm going to guess that everyone's going to diss Skyward Sword. For my part, I had a lot of fun with Skyward Sword - in particular the great selection of puzzles and items, and taking a genuine gamble with motion controls that I think paid off mostly. In my opinion Skyward Sword has the best dungeons - in particular the Ancient Cistern and the Sandship stand out across the whole series.

As for the points against Twilight Princess, I agree with 1) and 2), but I disagree with 3). I actually really like the connect between normal Hyrule and the Twilight World, both conceptually and graphically. I think as soon as you use the word "cartoonish" you lose me anyway. The point of the two contrasting styles was to show how the Twilight World was taking over regular Hyrule, and honestly, without that "cartoonish" element to it I think the game would have seriously lacked character. Overall I put Twilight Princess higher than Wind Waker for sure.