That's a tricky request, because racing games are very reliant on technical aspects and it's mostly them that decide how well a racing game aged. That said, you should definitely become a frame-rate whore, if you want to enjoy video game racing of the past & present, though it primarily concerns polygon-based titles.
NES: Excite Bike, R.C. Pro-Am, Rad Racer, Road Blaster.
SMS: Enduro Racer (jpn. version is preferable, it had more storage for additional content). Hang On is also nice.
Snes: F-Zero, Mario Kart (what else?), secondary choices are Bike Daisuki! Hashiriya Kon: Rider's Spirits and Exhaust Heat 2.
Genny: Micro Machines 2 and to a lesser extent F1 form Domark.
PC-E/TG16: F1 Circus '91 & Final Lap Twin.
Neo: I like every racing game here but Riding Hero.
N64: F-Zero X, one of the few games to offer 60fps on the N64. The other great title is Wave Race 64, though it's way under 30fps, it is so ingenious that it doesn't really matter.
Saturn: Out Run, the best port and the only physical/non-handheld version to offer 60fps, which makes it even better than the arcade original. You could also try Speed Racer Extra cause of its smooth 60fps
PS1: Hi Spec demo of Ridge Racer, though it's interlaced, it offers you the 60 smoothness. Motorhead and Muppet RaceMania are also worth a look because of their smooth frame-rates. Motor Toon GP 2 is only 30, but somehow it fits.
GC: F-Zero GX & Mario Kart Double Dash are the only ones worth it, but both are sensational masterpieces.
DC: F355 Challenge, Crazy Taxi, Tokyo Highway Challenge, Tokyo Highway Challenge 2, Vanishing Point, V-Rally. Daytona USA is an option, but only if you have a steering wheel controller. I also strongly recommend the Power Drift port from the Yu Suzuki Game Works book, it's 60fps all right!
PS2: Outrun2SP, my personal favorite & Gran Turismo 4. Both offer 60fps and a progressive mode. The latter is absolutely necessary to enjoy a game nowadays. Of course, there's also the legendary Burnout series, all feature 60fps & a p-mode, Burnout 3: Takedown is considered the best.
Xbox: From what I know, you got a similar broad choice of 60fps titles here, like on the DC, maybe even better. Out Run 2 is the best port, RalliSport Challenge 2 is top notch and Project Gotham Racing is the only in the entire series to offer 60. All others are also 60 and progressive. There's got to be more, but I did not have the time yet, to explore the Xbox Classic racing library as extensive, as I'd like to.
Xbox 360: I never explored the Wii, so I give you some 360 recommendations instead. Very few offer 60fps. Ridge Racer 6 is excellent and in my opinion better than RR7. BurnOut Revenge is a good enhanced remake. Burnout Paradise is exceptional, definitely try this one out. Driver: San Francisco is worth for the location alone. The last ones to mention are the Forza Motorsport games, 2,3 and 4 all offer smooth frame rates and arguably the best looks of the entire 7th console generation.