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I am sad for gamer-dom, that 38 people here actually answered NES. Get real. Zelda 1 was an institution and a perennial classic, and Zelda 2, while unorthodox, was ahead of it's time in many ways, and while super challenging, was also very rewarding to play through and master. Unless people's reasons for voting were "graphics" (which is shallow and sad), then I'm sorry, there is no reality that exists in which NES had the "worst Zeldas".

The easy answer, if you ask me, is DS. Neither PH or ST were "bad" games, but they were underwhelming, odd experiments that tried different things, but felt more like "side games". GC would also get my vote, simply because I didn't personally care much for WW. Though to be fair, on the other hand, I consider TP a GC game (because it was), which I consider the best 3D Zelda they've yet made.

In general, every system Nintendo has put out, has had at least one good, solid Zelda game on it. Even WW, which I dislike, I stil recognize is a solid game. But like I said, the easy answer has to be DS. I just feel like those are two of the least talked about, least regarded Zelda releases of all time.