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Magical Maid Koyori is the best.

She's hot, she's hilarious, and she rides through the air on a giant parfait.  She's a maid with a tanuki tail and ears.  She once turned the Comikat building into a giant mecha.  Her voice is awesome.  However, some might say she doesn't count simply because she is the villain.  Pfft.

 

In that case, I'll go with the asskicker known as Cutey Honey.  

Here is one of the best opening songs in all of anime (NSFW as it has nipples, though why someone is clicking on anime videos at work, I don't know, or even why nipples aren't allowed on the job).