Absolutely. Gasoline is no longer a part of our budget. What really won me over, though, is the amazing reliability of the Toyota hybrid system. My 2002, much less reliable than the later generations, needed its first actual repair (other than replacing wiper blades, tires, and 12V batteries) a few months ago at more than 195K miles. Even the brakes are original.
My wife and I have had nothing but Prius since 2005, when I bought mine used. She had a 2002 which we replaced with a 2010 in 2014. That was replaced with a 2014 this past year, after it was smashed in a parking lot by a woman who was having a seizure. It was hit in the left passenger doors, at which point the woman's leg stiffened and her Pathfinder went to full throttle, pushing the Prius nearly 90 degrees. Both passenger doors still opened and closed just fine, but rolling the windows down was no longer possible. The insurance declared it a total loss (two doors and a quarter panel was a bit much). In 16 years of Prius her cars have never needed any repair beyond the 12V battery, tires and wiper blades.
Routine maintenance is very much the same as on any other car. The only hybrid maintenance item is that there is an inverter cooling system that needs service every ten years when the regular cooling system is serviced.
My 2002 also does not get the fuel economy of her third generation models (the current fourth generation is stingier yet) and does not have the power, either. I don't recommend the first gen (2001-2003) to any but enthusiasts.
Nobody who is familiar with Prius is concerned with the hybrid battery. Very few ever need replacement - a Toyota commercial features an Austrian cab driver who has put a million km on his Prius with no major repairs, including the hybrid battery. In the off chance my wife's hybrid battery dies, I will get a rebuilt - about $1200 exchange - and install it myself. After the first generation, the hybrid transaxle is bulletproof. The battery is the closest comparison to an automatic transmission in terms of reliability and cost... don't you wish automatic transmissions were much more reliable, were only $1200 exchange, and you could replace them yourself without getting under the hood or under the car?
Prius cars cost about as much as any decent mid-sized car on the used market. They cost much less to operate - about half the cost in fuel around town compared to conventional mid-sized cars - and far less to maintain. Since they fit our needs, we never even consider any other car.
EDIT - the engine is also more reliable. It is controlled by the hybrid system, not by the driver. You can put it in Park or Neutral, or any gear with your foot on the brake, and hold the accelerator to the floor. Nothing happens. You could run full throttle on the autobahn without hurting it; the engine never reaches redline. My 2002, with 200K miles on it, does not use oil between oil changes. Higher potential repair costs have not mattered in our combined 30 years of Prius ownership because it has never been needed.