Which is better? Jak & Daxter, Ratchet & Clank, or Sly Cooper?

I mostly played Nintendo 64 as a kid and I loved games like Ocarina of Time, Majoras Mask, Banjo Kazooie, Donkey Kong 64, etc.

I've been trying to find games like that for PS3 and found Jak & Daxter, Sly Cooper, and Ratchet & Clank.

What makes those series different from each other?

Which is your favorite? Why?

Which should I get?

Any others I missed?

Thank you!

edit

Forgot to ask about Spyro!