"Was Doom 3 any good?"
Put it this way. It was the first one (and still one of the very few) that I found had to be played with the lights on first time through. It all got a shade too atmospheric in the dark, too many things deliberately put in to fuck with one's head and cause the screaming heebie-geebies[1]. It was the first I played where trouser-soiling moments were caused due to hearing something horribly unpleasant behind me, courtesy of 5.1 sound. Other games had had surround sound, but none had exploited it to the extent that Doom 3 did in my experience.
Fairly typical Doom-y plot (you're on your own, it's nasty, shoot stuff before it kills you), loads to get through, lots of serious gory mess and liberally stuffed with ohshitohshitohshit back-to-the-wall-and-hope-the-ammo-doesn't-run-out moments. It scores over earlier Doom versions with the interactive kit all over the shop (I can play a video game in a video game - WTF?), decent NPCs, smarter bad guys and..........that atmosphere.
Probably the only thing that lets it down is that the ending is a shade too easy. I think that Id knew that and overcompensated in "Resurrection of Evil", by putting in a final sequence that's perishingly close to impossible to beat. Having said that I aced the ending of the original DOOM first time through without a scratch (and a repeatable technique too - quite the coup at the time it was), so maybe they were deliberately going for nostalgia in 3.....
All-in-all it still ranks as one of my all-time favourites, so going back to the original question, I have to say yes.
[1] E.g. <Tortured voice in left ear> "Saaaavvvvveeeee Meeeeeee" </Tortured voice in left ear> - and it means it too. Amusing after the fact, when the gag becomes apparent, but more "Wtf was that? Oooooooohhhhhhh Shiiiiiiittttttt" at the time.