Since you said you have PS3, and 360. I guess it depends on what type you're into.
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Mass Effect series is great if you like sci-fi RPG's.
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Dragon Age Origins is a good medieval style game, but Dragon Age 2 is meh.
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Skyrim is great for an immersive medieval RPG, and Fallout 3 (or New Vegas) are the same, except with a 1950's, post apocalyptic vibe.
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Demon's Souls, or Dark Souls for gameplay and atmosphere. Difficulty is a bit up there though. Has an interesting online feature.
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Valyria Chronicles is a good game, with a more tactical approach (it's an RTS RPG, think a 3rd person Final Fantasy Tactics with cell shaded graphics).
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Disgaea 3 or 4 for over the top crazy RTS RPG fun (again think FFT, but with 9,999,9999 damage, swinging around your whole group, over the top attacks, and comedic story).
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Ni no kuni for a good anime style RPG (had studio Ghibli input, google the name if you're curious which animes they've done).
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Dragon's Dogma is another one that's good for the gameplay, and atmosphere. Also has a neat import another players npc helper feature. Only one save slot though, but does have a new game+ feature, and a collective everyone online collectively damages and kills it, boss.
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Persona 3 (PS2 title) is on PSN as a digital download for $10. I liked it a lot. it's a school life setting, with some dark themes, but is a last gen title.
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I'd say FFXIII, it was decent the first time around, but it's just too linear for a second playthrough. I really can't recommend it.
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I know there are other games, I'm just drawing a blank atm. Those are what came to mind.