Google Maps was a great app and service, it had decent navigation and always a lot of information on a lot of places. Nowadays it's cluttered with features including a "news feed" with social network-like posts made by people on places in the area.
On iOS devices I can highly recommend Apple Maps nowadays. They completely overhauled their maps a few years ago and I got great results navigating with it. The app isn't bloated, it's fast, the map material looks great and their version of Street View is a lot more sophisticated.
For strictly navigating you can also check out TomTom AmiGO. It's a free variant of TomTom's navigational system. I wouldn't really use it outside of car navigation though.
I used to use Sygic a few years back, but they switched to a subscription model and keep nagging existing "lifetime" buyers to subscribe.