In my experience, Splenda (brand name of sucralose) tastes identical to sugar, and every study I've read has failed to find any associated health risks in quantities humans can eat. Some studies suggest that people who drink diet drinks tend not to lose weight due to giving themselves "credit" for drinking them and then letting go on something else for a net increase in calories, but if you commit to treating artificially sweetened drinks as a replacement for normally sweetened ones, I don't think it's likely to do any harm.

Personally, I like to use it to sweeten decaff black tea mixed with lots of vanilla.