Yeah, I think Star Trek TOS (Series and movies) was probably the most ambitious with the aliens. A lot of the spin-offs (TNG and later) didn't really have that much non-humanoid aliens, and the makeup for the humanoid aliens was often not that elaborate either (or not even tried with some races that were identical to humans. Then again we're talking about Doctor Who here where the main character is an alien who on the exterior is identical to humans!). There's some exceptions of course. Oddly enough even the JJ Abrams films don't seem to have that many elaborate non-humanoid aliens either despite the larger budget (Although there were plans for redesigned Gorn and Salt Vampires for a prison scene cut out of the film).
Doctor Who I always think has been somewhat more inventive with the non-humanoid aliens although they did look often look cheap at times.