I don't know if it qualifies or not, but I recently discovered Hawkwind (circa 1970) and while it's not as lyrical as favoured prog bands, it has that "Oh, I really like this and it's only halfway through the 15 minute track".
I only discovered Hawkwind about 10 years ago, IMO if they had had a really good vocalist they could have been up there with Yes years ago! Even so, they're one of my favorite bands.