As gjb1985 pointed out, Skies of Arcadia is truly an amazing RPG, you definitely need to check it out.
Other great and highly recommended DC RPGs include Grandia II, Phantasy Star Online (you can even play that one online with us via the DreamPi), Record Of Lodoss War and Elemental Gimmick Gear. Evolution, Evolution 2, Silver and Time Stalkers aren't as awesome as the others mentioned, but they're still good games in my opinion, so you might give'em a chance.
If you're not afraid of the language barrier, you also might want to check some Japanese goodies on DC, including El Dorado Gate, Sakura Wars, Black/Matrix AD, Rune Jade, Segagaga or Rent-a-Hero No.1.
There's also a number of games that have RPG elements, like Draconus, Soul Fighter or Lack of Love... kinda.