They seem weak because there is a bug that prevents them from gaining stats when you level up, so currently they remain in the state they were in when you first met them (or rather, when you first entered the region they are in). If you're on the PC and comfortable with using the console, you can update them by following the steps below:
- Dismiss your follower (Lydia will go to your Whiterun house).
- Open the console and target your follower.
- Type in "disable" (no quotation marks).
- Type in "enable" (no quotation marks)).
- Talk to the follower and invite it to join you.
- Save the game, exit Skyrim, re-start it (achievements, just in case).
Optionally you can use "getav health" before dismissing her/him and after you re-hired him/her to see how their hitpoints changed. The NPC needs to be targetted for this. The inventory remains unchanged. If they wear a ring you gave them, take it before you split ways. Everything else is fine even when they have equipped it.
Just to give you an idea: From level 20 to 28, my follower gained nearly twice his hitpoints when he was properly adjusted to my character's level at the time.