I still have a domain or two on GoDaddy that I keep meaning to move. This is the impetus I needed, I think.
But if you want a good registrar:
iwantmyname has a refreshingly clean interface and absolutely no frills. Register a domain (tons of TLDs), set DNS. Done.
gandi claims it's a "no bullshit" registrar. More features, like auto-setup of vanity nameservers, but less focused on domains.
Both better than all the alternatives. You pay ~$5/year extra for the lack of features (how ironic), but it's well worth it. No intrusive interstitial ads, no sad excuses for DNS managers, no cluttered control panels, and no constant upsell attempts.
The contract you agree to when purchasing a domain legally binds you to observe, uphold, and enforce on your visitors a code of ethics. That code involves, among other things, fighting "deviant uses of the internet" and "protecting public order and good moral standards". That's just the beginning of your extensive moral policing duties should you not want to give Gandi the right to steal your domain from you at any time.
Good luck explaining that your post about hacking on a Raspberry Pi is not the type of hacking they prohibit you from discussing using a domain you purchased from them. There's virtually no way to run a forum, blog with open comments, or anything else enabling user-generated content without breaching your contract.
I'm not making this up. I think their "no bullshit" policy is marketing bullshit considering the actual stuff they put in their TOS. The terms are ridiculous for the service they're providing -- commodity domain registration, which is the updating of tiny records in a database at Verisign. Read it yourself:
https://www.gandi.net/static/contracts/en/g2/pdf/MSA-1.3-EN....
Thanks for pointing that out.
[1] http://hover.com