On Linux I use Acroread (or whatever name it has now). It's maybe not the most efficient, but it supports the most features (like transparency, layers, vector antialiasing, javascript...). Oh, and I had to go back to version 7, because in version 8 it was not possible to close a file and then go "back" to reopen the file (and this is a must when working with LaTeX).
Other options are xpdf, kpdf, okular...
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