Twilight Princess is in my opinion, the worst 3D Zelda game by a lot. I mean, I still like it, but it is just one of the most unnecessarily bloated games I have ever played. I also did not like the art, but some of it was not bad.
That said, the 3D Zelda games are some of my favorite games of all time (especially Ocarina of Time and Wind Waker), so I still hold them up in pretty high regards, but it would be best to give another one in the series a go before something as big as TP. Minish Cap is one of my personal favorites because it is so simple and to the point. It is made by Capcom, like the Game Boy Color games before it so if you like those, the previous ones might be worth checking out.