All three were unsatisfactory in my entirely not humble opinion. Metroid lost good platforming and vertical level design, Zelda lost nonlinearity and exploration, Mario lost linearity, platforming focus, and started recycling content. None were good transitions for their franchises.
Though not technically a 3D platformer, but an isometric one, it gets closest to the core of the franchise while sticking to a 3D plain, so after almost 30 years, I think the only one to make a 100% real transition is Mario. Followed distantly by Zelda only because of Wind Waker. Followed even more distantly by Metroid because of the obvious Prime.
EDIT: I shocked at how many people think 2D and 3D Metroid are similar. They aren't. Like, not at all. Prime is great, but it isn't Metroid. One of the best games of all time. One of my top 5 games of all time. The best first person game of all time. Not real Metroid. It literally plays nothing like those games aside from the level progression system.
