That´s exactly why you can't compare Destiny´s story to other games like Halo because to be honest HALO had an excellent setting with really interesting stuff like the Spartans, the Covenant and so on. The Halo universe is also pretty fleshed out and you know exactly what the fuck you are doing in those games. Do you know what your purpose in the storyline of Destiny is exactly? Other than "Darkness blabla"? Also the level design really isn't comparable. Destiny´s missions are set in the places you can also visit during patrol so it gets pretty repetitive while games like CoD or Halo have their own mission maps that are different in each mission.
That´s why I think that the campaign in Destiny is so boring because it´s just the same old environment that you are visiting over and over again and the unstoppable cutscenes suck to be honest.