It's in the eye of the beholder, but I strongly disagree with this. The art is absolutely timeless; cacodemons, cyberdemons, the super shotgun and the BFG9000 are some of the most recognizable video game designs of all time. Most importantly, the art direction feels very consistent and cohesive. You can contrast it to something like Heretic, which came out at the same time and runs on the same engine, yet looks noticeably worse.
I wouldn't play it at 320x200 on a modern PC, but take your pick of source port to run at 1080p+, and Doom still looks great.