Dubs have been slowly getting better over the years (or at least less bad), but I still avoid them like the plague. I've had enough bad experiences with them over the years (I've watched stuff that I absolutely hated dubbed, but then when someone forced me to watch it subbed to give it a second chance, it turned out to actually be good) that I don't even bother giving them a chance at this point. That goes for non-animated stuff, too, regardless of what language it's in.
I can read subtitles just fine without any effort, so I prefer the original voices, if that's an option. Yeah, sometimes the original voices suck, too, but that's what the people who made it created and what I'd like to see/hear. Also, depending on who did the official subs, I often prefer fansubs from one of the good groups (there are many, many bad ones, unfortunately), because they Americanize stuff less and put in cultural notes explaining things, so you get a bit more exposure to something you wouldn't otherwise be familiar with. A rare exception is Puni Puni Poemy, which I rather liked what they did with the Americanization in the official dub and could appreciate what they were going for with their translation, even if the dubbed voices bugged the crap out of me.