More often then not, subtitled versions tend to be superior to their dubbed counterparts. This isn't all that suprising, actually. Due to the sheer size of it's animation industry, the voice acting profession carries a lot of importance in Japan. It's nothing suprising or uncommon in Japan for one to become famous entirely based on their voice acting career. In comparison, voice acting is viewed as a profession of little significance outside of Japan (particularly in western countries), hence why a lot of voice actors are simply regular actors looking for work.
That said, there are exceptions to this rule. The dubs for Mobile Suit Gundam and Fullmetal Alchemist (the original anime, not the Brotherhood reboot) were done preety well. Characters had appropriate voices and the translation did not stray from the original meaning.
Of course, another problem with dubbing is that translators sometimes feel compelled to completely butcher the source material by going too far with the changes. Yu-Gi-Oh! is a notorious example. Oh sure, 4Kids did dub the anime....but they also censored a great deal of things (sometimes in a way that made absolutely zero sense) and rewrote entire plot points in the process. Overall, the only good thing about the 4Kids version was Dan Green.