I hear you on the Police, that was their rep - awful/flat in concert don't bother. In contrast Freddie Mercury's legacy is one of the most charismatic, energetic and best concert performers. I think you can see it in their concert footage. On that front I'd rate Mick Jagger #1 I've seen him in 80's, 90's (I thought I was good at that point) and again in 2015 and he retains his incredible energy and stage presence. Bruce, Bono are the other two I'd put in that upper echelon, then dropoff among those I've seen to Roger Waters, R Daltrey/Townsend.
However thinking about it I completely understand about never hearing the way overplayed popular catalog of Queen again AND if say Led Zeppelin, The Doors and Queen were playing the same night I wouldn't hesitate a moment to see Zeppelin and Queen would be a distant 3rd. But I wasn't old enough (1st concert 1980) to have had a chance to see Zeppelin so its not the same regret.