Is there any lore for the Orcs that explains their culture, and really makes them unique? I'd love to be able to get rid of this view...
For starter, play Daggerfall. The main quest have a way to get involve with Gortwog (representatives of the Orsimers), one way or another. Politic get involves and the story tells it quite well of their standing from their point of time.
From there, we get a little story of how these Orsimers became what they are with this story: http://www.imperial-library.info/content/morrowind-true-nature-orcs
Then there a history of Orsinium from the http://www.imperial-library.info/content/pocket-guide-empire-third-edition-orsinium.
Lastly, there the fact that Orsimers are renown smith, with http://www.uesp.net/wiki/Morrowind:Garothmuk_gro-Muzgub being one of the best representative of this as he have large amount of information of many weapons ingame. It is worth mentioning that they have an armor that is base as a whole on the race, namely the Orcish Armor. These armor are rare (rarest armor in Daggerfall, in fact), very ornate, and durable, not to mention prized. The armor style similar to a Samurai Armor, which goes along with the fact that the Orsimers are also very loyal (soldiers) to their higher up if given the opportunity.
http://www.uesp.net/wiki/Morrowind:The_Wraith%27s_Wedding_Dowry pretty much give us a story of a badass Orc Bride, with a little hint of Orsimer Wedding tradition to it.
Other than talking about http://www.uesp.net/wiki/Lore:Malacath, there are some part that I may miss, so ya.
As for being portray as "joke" race, keep in mind that there usually a small representative compared to the whole race. Same with the Bosmer. Kind of like portraying the Dunmers as crazy because of Therana or the fact that Nords like to go commando because of those witch quests.