I doubt Maul could have taken on Yoda. Dooku managed to hold off the greatest jedi long enough to distract him by trying to crush Kenobi and Skywalker.
DO NOT READ THIS IF YOU VALUE THE EXPERIENCE OF WATCHING STARWARS WITHOUT KNOWING WHAT'S GOING TO HAPPEN.
Spoiler:
The movie opens with 10 minutes of the best cgi space battle in history, after the ten minutes, Anikin defeats Dooku by beheading him with two lightsabers (the red lightsaber is later adopted as Vader's , and the blue becomes Luke's). Dooku being dead, Grevious becomes the lead seperatist under Sideous. This leads me to believe that Dooku, despite being the padewan of Yoda, is far from the great and powerful Jedi he is made out to be in Episode II. He is more of a politician than a fighter. Maul, on the other hand, was a bread fighter. I think that he was technically superrior to Dooku, but only fell short in experience with force powers. Had Maul trained more with force powers like lightning, I would say they were an even match.
I do agree that Darth Maul was overrated by fans. He was powerful and important, but he was not this amazing character everyone seems to think he is. I would have liked to see his character developed more. Maybe the Kamino cloners can crank out a few.
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