Spirit tracks, I liked her in that one a lot, she was expressive and really hilarious, and also useful.
A Link to the Past, her personality was great, though I think she was a bit too much of a damsel in distress.
Ocarina of Time, I liked her as a child because of her personality again, but I liked her a bit less as an adult, her design was kind of weird imo.
Twilight princess, I liked her design, and she had a bit more of a role than in some of the other games.
Phantom Hourglass, she had a bit of Tetra's attitude, but was certainly nicer than WW.
Skyward Sword, I haven't gotten a chance to play yet, but I love her design, and from what I've seen of her personality, she's pretty good there too. She'd be higher on my list, but I don't know much about her, on account of not beating the game yet.
Legend of Zelda, the first one, we really aren't given much info about her, she doesn't ever really talk in the game. She would be last on my list due to lack of personality, but I saved last place for...
Wind Waker, because I really hate her attitude in the beginning and really just about all of it. She is the only Zelda I've ever really disliked. I like that she got a change of personality from the rest of the series, but it was way overdone, and she was really a brat.