Man Voyager is the only Trek I haven't watched. I'm considering not even starting. Should I? DS9 is my favorite trek if that helps.
Yeah, it's Star Trek -- so it's comfortable to watch -- but keep your expectations in check. It's like a dumber TNG with a worse cast stuck in a Lost in Space scenario. Which isn't to say I don't like it! I do, but I'm a sucker for just about anything Trek (except Enterprise, which I've never gotten around to watching).
Personally (and this is only me), I think you can safely skip almost all of the first three seasons -- if you're looking to get through the show quickly. Watch the two-part pilot, so you know what's going on. And watch "Threshold" (S2E15), because holy shit it's so stupid and horrific it's a must-see. (Maybe you want to save it for after you've watched more episodes, so it doesn't ruin the show for you...)
After that, you can go right to "Before and After" (S3E21), because it's decent and sets up some of what comes later in the series.
For me, the series really begins at "Scorpion" (The S3 finale and S4 opening). Most of the episodes I like best come after that point -- though there are still
plenty of clunkers, too.
If you want to pick and choose episodes, people here will give you some good recommendations. Or you can get some hints from the the user ratings at IMDb:
http://www.imdb.com/title/tt0112178/epdate
You can also get good video summaries of episodes at SF Debris:
http://sfdebris.com/videos/startrek.asp
The episode listing on the right side is in order (though he hasn't covered every single episode). They do a great job of getting you up to speed on what happens in any episodes you don't feel like watching in their entirety.