Well I've seen a lot of people recommend Attack on Titan, but I'd really be cautious about that one. It is awesome, there is no doubt about it, but...You said you were looking for memorable characters? You will NOT find them in Attack on Titan. The three main characters are meh at best, and if you get attached to anyone else, they're likely to die. And also, this anime will test your patience A LOT. When stuff is actually happening it's always awesome. But, there are far to many moments when I was screaming "SHUT UP! WE ALREADY KNOW THIS!". Just take that in mind before you get into that one.
And also...I feel that DBZ is kinda of...*hides behind a chair*...overrated. I mean, after knowing the story for the first time, it is painful to watch again. Actually, it's just painful to watch period because I read the manga. And all the jokes people make about the show, are not exaggerations.