What is the best Domain Name Registrar?

So, I've used Network Solutions, I've used Godaddy, and both fall short for various reasons I'm sure you are all familiar with.

Network Solutions is overpriced for what is now mediocre DNS hosting (I'd say even Godaddy is better for this now), I remember the days when you registered through Internic directly.

So I'm wondering, is there a really good DNS registrar out there that is not overpriced?

I'm willing to pay a bit more for quality, but not UltraDNS pricing ($50 / mo entry level).

All suggestions appreciated.