They are somewhat different cars, so the answer depends on what you want.
The Prius is a mid-sized car, the Insight is a compact.
The hybrid systems are different. The Honda system is basically a conventional car with an electric motor that replaces the flywheel. The Prius has removed many of the parts of a conventional car and replaced them with more reliable electronics and has simplified others. For instance the Prius doesn't have: an alternator, a starter motor, a serpentine belt (2010+ only), a clutch or fluid coupling. In addition the automatic transmission with it's hundreds of parts has been replaced by a simple planetary gear system similar to a differential.
So both cars have their fans. My Prius has been one of the most exciting and fun to drive cars I've ever driven. In addition the maintenance cost has been low. 12 cents per mile for dealer maintenance, tires, and fuel combined over the 120,000 miles I've driven it so far, according to the logbook I keep. It still runs like new. So does the 2001 that my wife drives--though she doesn't keep a logbook. Based on the high owner satisfaction ratings, my good experiences are not unique.
2004 Prius MPG from the logbook. (Complete years only):
2003-2004 -- 50.8 mpg 17,628 miles
2005 -- 52.6 mpg 14,688 miles
2006 -- 56.3 mpg 16174 miles
2007 -- 57.3 mpg 18384 miles
2008 -- 59.9 mpg 21755 miles
2009 -- 61.4 mpg 16177 miles
2010 -- 65.2 mpg 12134 miles
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