A lot of people have been complaining about the game's lack of 'real' dungeons, which I suppose is understandable since those have been the real 'meat' of past Zeldas.
So far I've gotten the Master Sword and only completed Vah Ruta, I have yet to enter the other ones but have already visited Rito Village and Gerudo Town. But I have seen gameplay of all of them since I'm not particularly spoiler-averse.
Even if the Divine Beasts aren't "dungeons", per se, the lead up to each and the process of freeing them have incredible atmosphere and are cool set pieces in of themselves. The music within each is creepy but fits the tone, the ability to enter outside areas in each of them establishes the elemental tone while still being grounded in the Shiekah tech aesthetic.
I'm fond of the whole mechanical beast design in general, I also think it's a light callback to the 2D Zelda 1 dungeon maps:
(Eagle)
(Snake)
(Lizard)
(Lion)
I also appreciated how each settlement seemed to be genuinely screwed by the danger of the Divine Beasts - seeing that gigantic camel walk the desert as it targeted me with gigantic lightning bolts feels really oppressive, as well as witnessing a gigantic mechanical bird hover right above the natural harmony that is the very pretty Rito village.
Ultimately, I don't think these will be the standard 'dungeons' for future Zelda games, as they seem very tied to the specific story and aesthetic of this game. My favorite dungeon was Hyrule Castle, which had such incredible atmosphere and felt really seamless with the rest of the world.
I think the streamlined 'large shrines' that these beasts are could serve as valuable mini dungeon structures in future entries, while they focus their efforts on more dungeons like Hyrule Castle. I don't miss the "get map, get key, get compass" structure of past dungeons as much as I do their sense of mythology and architecture and oppressive feel. Rushing through the Castle, the Akkala Citadel, ruins and labyrinths sort of gave me that feel, but I have a feeling they can outdo themselves.