Although Virgil spent years writing the Aeneid, by his death, he felt that it was imperfect and asked that it be burned. Luckily for all concerned, his request was denied or we'd never have this epic. If you are new to Greek and Roman epics, I'd recommend starting with the Iliad and the Odyssey first. Not only will most novices find them more readable (especially the Odyssey), any reader will pick up important background information that will help immeasurably in following the Aeneid. Although I'm a huge fan of the Aeneid and have read many of the books in the original Latin, I'd suggest to most readers just to read books 1,2,4 and 6 unless you are really drawn in. It's not that the other books are not great (they are), it's just that unless you are a specialist, you won't want to read all about the battles and extra stuff -- book 4 is the love story of Dido and Aeneus and for many is the highlight of the poem. Book 6 is the trip to to the underworld which is so important to later writers and poets like Dante, TS Eliot, etc.... The fall of Troy is contained in books 1 and 2. I enjoy Fitzgerald's translation, but as an amateur Latinist, I prefer Allan Mandelbaum's translation with Moser's illustrations. When I was translating from the Latin, only Mandelbaum was so close to the original that he could help a student. I think Mandelbaum is a genius for rendering the poem so close to the original. It's unfair to call him wooden -- Virgil wrote the whole thing in Dacytlic hexameter which is hardly wooden in Latin, although it can be repetitive at times. Not to worry -- he used a lot of spondaic substititions (altering a long, short short with a long, long) to vary the meter.
So, if you just want a taste, read books 1,2,4 and 6 and if you love it, by all means read the whole epic.