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An unpopular opinion, and a very strange one at that!
Personally... i think Transformers Prime had the best designs. The had the complexity of movie verse - looking like they actually transform mechanically rather than morph like blobs, but also having more solid shapes. Not every surface needed bits, and lines, and greeblies. The more solid siluets made the fight scenes better as well. Now I'm aware that  Prime isn't for every one. The living metal faces that almost all characters had, the somewhat thirsty designs( if you aren't aware, Megatron straight up had metallic butt cheeks) 
But I loved it