Twilight Princess isn't really the best title in the series -- in fact, it's one of the weakest -- but I still found it to be a good game overall. Granted, I played the GameCube version, so that may have helped it. I've never played the Wii version, but I have no intent to because
the game wasn't made for motion controls, so quite naturally they're only going to cause harm in such a case.
Anyway, glad to see you're enjoying A Link to the Past. After you're finished with that, I recommend going straight to Ocarina of Time; its overworld unfortunately shares a lot of the same problems that Twilight Princess' does (though
fortunately to a much lesser degree), but the core gameplay & dungeons are top-notch, especially after the first half. Do note that it's not quite as open as ALttP, however.
Majora's Mask is arguably the best game in the series to date. While it also is more linear in nature, it's not as bad about it as Ocarina, and it has
incredible level design, especially in the dungeons. The 3 day system was a turn-off for some people, but I enjoyed it, as it gave a sense of urgency, and it's ultimately the reason why the sidequests were capable of being so fleshed-out -- and due to them being so fleshed-out, the story is actually very well-written, which no other Zelda game can truly boast as of yet. Certain games in the series have
good stories, but Majora's Mask is the only one to have a
great story. It's a fantastic experience all-around.
The Minish Cap is also a great entry to pick up. Not only is it one of the best games on the Game Boy Advance, it's one of the best games in the Zelda franchise. One of the first things you're likely to notice is that it actually incorporates some of the elements usually only found in the 3D Zeldas, like climbing & rolling (the only completely 2D Zelda to have these, in fact), and the overworld is very reminiscent of A Link to the Past's with the way it's designed. It's not even close to being as open as the latter, but hey, it's a handheld game, it can get away with it. The dungeons are also really good (again, incorporating elements usually only found in 3D Zeldas), quite possibly being the best top-down dungeons in the series to date. It's a blast to play.
Normally I'd recommend Skyward Sword, but I'm a bit hesitant to with your statements about disliking the controls of the Wii version of Twilight Princess. Still, I'd say give it a shot, as its controls are substantially better, due to them actually being made from the ground-up as opposed to being translated over from GameCube controls. Where TP's controls are basically waggle-to-win, SS's are finesse with directional freedom and pinpoint accuracy. For an idea of what to expect from them, watch
this video.
But there's more to the game than just the controls, of course. Skyward Sword ultimately falls short in certain categories, such as the flying segments and a linear nature, but it has some of the best & most inventive level design in the series, and it's the first game in the series to actually provide a level of depth to the swordplay (though don't expect Devil May Cry levels of it). For all its shortcomings, I enjoyed the hell out of it, largely because it did a lot of things I'd wanted to see in the series for a long-ass time (precision swinging in the combat, a smoother transition between overworld & dungeon, more in-depth resource management, an economy that's actually
good for once... just general improvements to many series-wide problems).