Never got that complaint. People don't seem to mind only the most facile changes happening in any other series (Devil May Cry, Call of Duty, Halo) but always string up Zelda for keeping the same basic formula even though of the three 'main' games they've done since Ocarina two of them have been stylistic departures from the series and the other implemented a new control method.
At it's core the Zelda games have always been go to forest, ice, desert, fire temple and get trinket, but Ocarina, Majora, Wind Waker all added new design ideas and tweaks to the formula.