They all make decent printers, so you're not going to be really unhappy with anything from any of them.
Personally, though, my money in recent years has gone to Canon, and I haven't been disappointed. Their prints are at least close to the quality of Epson's, but as of the last time I did any research they were less prone to clogging and had MUCH cheaper (per page) ink. Same in comparison to HP--the ink is cheaper, and I haven't liked HP's drivers very much. Most new Canons also do automatic duplexing, which can be nice, though maybe this is true of HPs and Epsons, too--haven't looked.
As far as the quality, I can say that even two generations back the midrange model produced prints good enough to sell at an art show, which I have actually done. They've improved since then.
The one thing I don't like about Canon's printers is that they won't print on CDRs like some Epson models. Worse, apparently one of the 6000 series *can* print on a CDR, but only in Europe--they disable that feature in the US version for whatever bizarre reason.