This is one of the sixth season episodes that actually provoked a positive reaction from otherwise skeptical-at-best fans, since it's an experience that could have happened on any Star Trek, but the experience seems right for Voyager and seemed to introduce a new threat that might have come back later on for more.
"Dragon's Teeth" does not spawn any return engagements. It's a standalone episode, to be clear. The crew stumbles across another species locked in suspended animation, decides to awaken it, and discovers that this was a very bad mistake. There's even another chance that they can use this experience to get a little closer home, but no dice, once again. They learn their mistake and narrowly survive and are once again off on their merry way. In some ways a very typical and therefore potentially forgettable entry, but stands out just enough where you will thank yourself for viewing it. Not essential, but definitely won't leave you hating the show.
franchise * series * essential * character
Memory Alpha summary.