While it's true that, like any era in history, there were real negative aspects - prudery, inescapable classism, imperialism, and so on - the Victorians were also some of the most forward-thinking and hopeful inhabitants of that foreign country of the past, fascinated by the possibility of self-improvement and the hopeful forward march of civilization and the fruits it can bear.
In a long history of the world marked by bloody, distracted despots ruling over subjugated peasants in grinding poverty, lit with brief, individual sparks of genius that slowly advanced civilization, the Victorians were maybe the first Western society - maybe anywhere - that devoted itself to relentless self-improvement as a moral imperative.
In Eminent Victorians alone, we have the biography of the woman who almost single-handedly modernized nursing into what we can still recognize as "nursing" today, and pioneered new uses of statistics; and the biography of the man who invented the modern boarding school, revolutionized "public" schooling and academic excellence, and made school sports the centerpiece that led it to becoming today's billion-dollar industry. That's not to mention the Origin of Species, Lister advancing antiseptics and sanitation, Pasteur, Bell, Babbage - the list goes on.
Maybe they were humorless prudes - though history may look back on today's outrage-fueled society as equally censorious - but we should at least respect them for their indelible mark as a society interested in actually improving itself, instead of maintaining the millenia-old status quo of boozy, gambling aristocrats cruelly ruling over the peasantry.
(Eminent Victorians is, by the way, an excellent read - fresh, light, engaging, and genuinely funny: https://standardebooks.org/ebooks/lytton-strachey/eminent-vi...)