Adventure of the week is a little hard to dismiss when it comes to most TV shows, even BSG had it's filler episodes, as much as I thought it was great sci-fi. All I can really say is I loved both BSG and The Expanse and enjoyed these shows too:
Farscape: Great show with one of, if not the, best villain I've ever seen on TV, possibly even the big screen, Scorpy is amazing.
Firefly: Serenity to finish it, can't go wrong, shame it didn't get the seasons it deserved.
Dark Matter & Killjoys: Very well done budget sci-fi, good shows, Dark Matter is closer to the rag-tag crew thrown together.
Stargate Universe: Preferred this to other Stargates, even though they're all decent. Bobby Carlyle & Louis Ferreira are very good in it. Another 'shame it was canned' scenario. Worth a watch though.
There's quite a few other shows that might come good, aren't space sci-fi or simply have their problems but are enjoyable nevertheless. Westworld, Colony, 12 Monkeys, Terminator: Sarah Connor Chronicles, Caprica, Defiance, The 100. Dark Angel was a good show back in the day, as was Sliders (I know, adventure of the week). For a laugh Red Dwarf is a must for any sci-fi fan and Lexx is a riot.
Unfortunately there's not too much like The Expanse, nor enough sci-fi shows in general, but whatever you do stay well clear of Falling Skies. There is the notion 'it has to be seen to be believed', but it's really not worth it, disastrous writing and direction ruined a show with a good cast and good premise.
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