Asimov's description is pretty much correct. There aren't many stars out there, so the night sky away from the galactic disk would be fairly dark. Toward the galaxy you you have an edge on view of the galactic disk.
As for a sky full of galaxies, you might see a few but probably not. They are intrinsically very faint and moving a few tens of thousands of light years wouldn't do much to make them closer and therefore brighter. The sky background would be lower so you might be able to see a few more but most likely, to the unaided eye it wouldn't be much different.
So if you looked away from the galactic center, there would be a very darks sky with only a few stars and a few faint smudges just on the edge of detectability for your peripherial vision.