I would recommend using dapperdotnet or ormlite.
I have used both tools extensively and find myself returning to them each time I move onto a legacy code to assist querying.
Both of them are very fast and provide just enough abstraction from raw ADO.NET to make your code readable.
Im not a huge fan of ORM's in general, I used to use them all them time but found that CQRS freed me up from using the same models to read and write so the ORM kinda became just a huge heavy pain in the butt.