I wouldn't recommend the dark souls series. I played it before skyrim and the melee combat system in DS is so superior that it will ruin you for other games. I can't play skyrim now, combat is just terrible.
lol so true..
its hard to play any fantasy type RPG after Dark Souls (it actually got me to buy a PS3 just for demons souls)..
To the OP.. if you like skyrim you should at least give dark souls a try, it might be different but its really similar only on an extreme level (very little hand holding, you can delve into the story as much or as little as you want).. and your choices actually make a different (if you choose to kill NPCs or how you interact with some NPCs, its going to mean something and effect the rest of the game)