There's a reason I keep going back to Star Trek Deep Space Nine. The show had a great cast of characters. Really great. There were many episodes that I wasn't thrilled with, but many more that I loved, and the characters were always compelling. The show got better with each season. Most of the characters on the show end up being outcasts in one way or another.
Babylon Five is a similar show that is in many ways very good. The pilot and first season are not great but the show gets much better as it goes on.
The Battlestar Galactica reboot from 2003/2004 is actually better than both shows.