You could become one of those "great CS PhDs". Salaries in Academia are usually lower, but the work can be more rewarding.
I think reward boils down to the things you actually pursue and do, both in the academia or the industry.
Just because you don't think you'd succeed in ${world_renowned_and_highly_pressured_university} doesn't mean you can't do amazing things at ${other_university}.
Seriously - if you have an original thought in your head, can write, and can justify your point of view, you can do a PhD.