Re: Fear. Chaos. Pain. Vote for your favorite Nolan Batfilm!
I voted TDK. I just saw TDKR for the second time and I find it trumps quite a few aspects from TDK - more consistent fight scenes, great female leads, action sequences as a whole were even bigger and better, outward Bruce Wayne arc.
But the pacing of TDK is flawless, IMO. Had TDKR been a three hour epic with a bit more breathing room, I think it would have topped TDK through and through. But damn, I really love TDKR. It's really close though.