Oddly while it's closer I think it takes more energy to get to Venus then Mars. Something to do with orbital dynamics revolving around the relative speeds of Earth and the place you're trying to get to. That said the Venus exploration concepts I've seen look really interesting.
I'm not a fan of either Venus or Mars as alternatives to Earth. But Venus's far thicker atmosphere allows for aerobraking, which tremendously reduces the fuel requirements (tyranny of the rocket equation) for stopping once you get there.
Unless all you plan to do is enjoy the view on the way down.