Best for mostRobert Fagles · 2006
Fagles did for the Aeneid what he did for Homer — a fast, vivid, dramatic English that carries you through. He expands Virgil's lines a little for momentum, so it's not the most economical version, but for a first read it's the most propulsive, and Bernard Knox's introduction is excellent. This is where I'd start.
Most lyricalRobert Fitzgerald · 1983
Robert Fitzgerald's 1983 version is the lyrical one — slower, more musical, lines you reread. Some readers find it heavier going than Fagles. If you care more about the poetry than the pace, this is the one that's been loved longest.
VirgilThe Aeneidtr. John Dryden
The free classicJohn Dryden · 1697
John Dryden's 1697 translation, in rhyming heroic couplets, is out of copyright and free. It's grand, formal, and unmistakably late-17th-century English — a poem in its own right more than a transparent window on Virgil. Free, complete, and worth sampling for the sheer sound.