I'd have to say Imperial since it's not too bizarre or grand. It looks nice as is and the game needed some mid-evil type towns anyways since it is like lord of the rings or that kind of fantasy. Kinda like starting out in Seyda Neen, one of my favorite pit stops.
Glad someone else voted for Imperial as well.
Maybe it is because the first impression (starting in Seyda Neen for the first time ever), but I like those buildings. Nothing too fancy, but they kind of look like houses and are cozy inside. Not over the top. The same would go with Skaal, but those are kind of boring looking outside. And deifinitely wouldn't wooden houses look like that in that environment. If they did, the people would've frozen to death long ago.