The MGS series had so many, it's hard to pick just one. Psycho Mantis, Vamp, The Harrier, Rex, Ray, and The End were all great, but there's nothing like the final battle against The Boss in Snake Eater. That was probably the most moving scene of the entire game.
Another game full of great battles is Shadow of the Colossus. That game was full of "holy crap" moments. Each battle had the wanderer against overwhelming odds so that you have a genuine sense of accomplishment once you finally succeed.
Hideo Kojima knows what he's doing because Zone of the Enders 2 had some pretty memorable fights as well. The many fights against the different forms of Anubis were about as epic as any fight I could imagine.
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