Depends on your skill/time . Do you want a 1click solution to create generic characters with no personality? (good for prototyping phases) Probably daz is then a good choice.
Do you want to spend weeks and weeks on one superhighquality hero character with proper design? Zbrush for sculpting, Mari / Substance / Photoshop for texturing. Maya for assembly, rigging and animation.
Then theres is also a whole bunch of smaller more specialized softwares and plugins to do whatever else smaller task you need to do.
PSEdit: adding Marmoset to the texturing bunch is a good Idea, ive heard only good things about it, and someone now made a seamless Marmoset to UE4 exporter for fully functional PBR shader imports.