Perhaps my favorite series of all time (and a great intro to boot, IMO):
FarscapeIn terms of introductions, Babylon 5 IMO did a tremendous job.  The intros evolved with the show.
Season 1Season 2Season 3Season 4Season 5Andromeda season 1 had a great intro too.  Unfortunately, after that, the intro became campy and unwatchable (as well as the series in general).  Unfortunately, I can't locate the original title sequence.  
This clip at least has the original music, but only a bunch of pictures of Lexa Doig.