I liked Caprica - starts off a little lacking but quickly improves to be almost as good as Battlestar.
Two other series we greatly enjoyed are Firefly and Deadwood. Both of these rely more on character development and dialogue than action, though there is plenty of that too. Deadwood is set in the US wild west and has a darker, shakespearean feel to it. Firefly is a mix of sci-fi and western and tense moments are mixed with comedy. Unfortunately both of these series were cut short - not enough mass market appeal perhaps.
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