I have not read the Zelda Mangas, so I cannot tell you weather they are good, or if you have to read them in order (I would suspect you don't.) I can say that they are (from other's comments on the mangas) probably something to check out!
(I would like to warn you however the Zelda Mangas are non-cannon and are not always a reliable source for information on the story, charictars, and so on. The best source for information on Zelda would be the games their selves, or info directly from Nintendo.)
Aside from that I say, check 'em out!