As an iPhone user I agree. I often look at how feature packed while cheap Android devices are. The only thing that keeps me from switching is Google and that I don't have the time to bother with alternative ROMs anymore.
I'm probably in the extreme minority here, but I actually think iOS lately feels too complex. There are still features it's missing that I'd like, but I often long for the simpler days of earlier iOS versions. Too many different overlapping interfaces (e.g. lock screen vs. Notification Center), types of notifications, interaction models (tap vs. 3D Touch vs. hold), and overloaded basic apps (e.g., apps inside of Messages.app)—they all make me feel like iOS is just getting too complex, at least on my iPhone.
I don't think that's too unreasonable. I only spent a short amount of time with iOS, but I soon gained the impression that it was unintuitive and that there was perhaps an emphasis on superficially clever stuff at the expense of keeping on top of fundamental user expectations and patterns. Things like 3D Touch don't matter to me when the user experience is much more constrained by a philosophy that discourages customisation and convention.