I think the first x-box controller (the huge one) was awful, but they released one for the Japanesse (and small handed) at th same time - thats the best one.
Does the Keyboard and Mouse count? If yes, that of any company unless they really screwed it up (like it didn't work or something) if it doesn't count, the XBOX one, it fits my hand best, the Gamecube and the PS2 ones are too small.