It's true. I only ever bothered to watch DS9 after watching every other series and getting desperate for a fix. And now I feel bad for ignoring it after school all those years ago because it's a solid TNG successor.
Voyager definitely has a better theme/synopsis. On paper, DS9 seems rather dull (being a fixed space station, instead of an exploring spaceship). They even had to add The Defiant to allow for that exploring kick.
Character development, and long story plots wins with DS9. Arguably the best Trek series (though, whatever is your favorite is the best Trek series, no need to gatekeep)