This really isnt a one or the other answer! Though I have voted diesel as thats what I do prefer.
I say that because it depends on the car, a small family hatch (say a Citroen C4?) with a 1.6 16v petrol is going to have none of the above liked petrol qualities. It will not be fast, it will not make a nice noise and it certainly wont be good on fuel, so why bother? Ive also been in said car and the revs it does at 70-80 is a lot, making the car noisey and therefore tiring. HDI C4 though, very refined, faster more of the time as the revs dont need to be at 5000rpm to make it move and its a better drive too. Not to mention the much improved MPG (38 for the petrol and 55 on the diesel, average) and the lower tax bracket.
So no contest there, as for piddly engines in MPVs I cant see the point. No one could pay me enough to drive around in a 1.6 petrol Zafia

My auntie has just bought a 1.6 petrol Picasso, why on earth I dont know. She is for ever taking their C5 HDi instead!
For a town car I like a small engined small petrol car, zippy, quiet and fun. Ive had a small diesel city car, that was not at home in the tonwn as much as the identical car but with a petrol engine wasy.
A large car, hmm, I do favour large cars and they are what I choose to drive.
For a daily id always choose a diesel and never a petrol, not just for running costs but also the drive they offer (if its a good diesel with plenty of power and torque). There is also saleability, diesels sell much better and faster than the same car in a petrol, generally.
Though I do like having a petrol car as a second car, best of both worlds then.
I do like my Activas TCT petrol engine, however if HDi Activas were sold in the UK then thats what I would have bought instead. As it was, I had no choice
I am yet to be convinced that a V6 or otherwise is better than a good diesel. Most modern diesels in large cars are quick enough for most situations anway and the refinement is excellent.
I do a lot of motoway miles, a 3.0 V6 is pointless then, once your up to speed all you want is a quiet place with plenty of torque to get you even faster. My C5 does 70MPH at 2000rpm and has a good bit of pull at that to allow me to stay in 6th, unless I really want to press on from 70 and then 5th is best.
I also like the remapping potential of modern diesels, if you get bored with its pace, just make it faster!
The modern diesels, expecially HDis, are very quiet, silent on the move and the drive is great. Luke, if I ever see you, you will have to drive my 138 C5, they are very good engines.
Ive summed up my thought with my anser ... Diesel all the way for me!