The problem is that people are comparing the story of Halo, Halo 2, Halo 3, Halo ODST, Halo: Reach, and in some cases the extended universe, to Destiny.
When what they should be doing is comparing Destiny to Halo 1 by itself. The comparison is much much closer.
Even then Halo >>>>>>>>>>>>>>>>>>>>>>>...>>>>>>>>>>>>>>>>>>>>>>> Destiny.
When I'm drunk and in a good mood.
Halo dropped me as a super-soldier on a human spaceship. Apparently we're at war with aliens and on the run. We stumble across a mysterious alien installation and the other aliens - our enemies find us.
What follows are hours of trying to save our forces and get off the alien installation. Meanwhile we learn more and more about said installation, it's makers and our enemies.
Then yet another alien life form shows up - the Flood - and it turns out that the installation was built to fight those scary critters. etc. etc.
My point is: Halo's story moved into a direction. Destiny's story isn't going anywhere.
The main game showed us a universe in bullet points, without exploring any of it.
Then came the first DLC and it added exactly nothing to the actual story, only the backstory - and that is also what the Grimoire does, which some here are so fond of.
It's just Backstory. The not-even-in-game prequel. But in Destiny itself, nothing happens. Ever.
What's Rasputin's deal? We haven't learned anything about him in TDB, although we have to save his ass every other week in the daily.
How did Crota's crystal end up on the Moon, when earlier we destroyed it on earth?
And do you even remember "The Darkness"?
I don't need a mind-blowing story, Halo also never did that. But I do need a sense of direction. An evolving experience. Something to learn. Destiny doesn't really provide that.