Both iterations of the Normandy are too spacious. Look up a modern naval combat vessel. Large pointless open spaces are for luxury yachts. That space should be used to cram in more things useful for the operations of the warship, or it should be eliminated by making the vessel smaller.
Debris inside the vessel impeding movement in combat is a fairly silly concern as well, because damage to the ship that would cause problems on the inside of the ship would result in catastrophic depressurization, death for most if not all of the crew, and almost total loss of combat capability. Random parts of a ship on the inside don't blow up unless they stop being part of the inside via a hull breach, and become exposed to direct enemy fire. Boarding actions in space are even more ridiculous, especially since the vessel being boarded would have to have been totally disabled (in which case it would probably be nonfunctional and virtually destroyed, so there's no point in boarding it) and would be, y'know, traveling at extremely high speeds and probably spinning in a way that would make contact impossible.
This is all true... But there's a reason why realism isn't generally the end goal when it comes to designing stuff like this, particularly in video games. It'd be kinda dull if every starship bridge was just a small box with some monitors.
And leaving aside any aesthetic considerations, there's the issue of movement: manoeuvring characters in the kinds of tight spaces you find aboard actual warships and spacecraft, particularly in the third person, is almost always an exercise in frustration. Third person character controls are just poorly suited to the task, which is why games like Uncharted and Tomb Raider tend to put you on autopilot whenever you have to squeeze through tight gaps and such.
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