Although Futrerama was good, it sort of fell appart as they tried to develop the characters. Although there is nothing I do not like with it, I feel it became burned out near the end and the movies sort of showed this with their rather fast changing plots which were often confusing in some way. Due to the lack of Matt G. on the story team, I have fears the new series will not live up to the orignals and might atempt to use a different form of humor encouraged by the new writers on the team (only some of the old ones remain), especially since some of the voice actors where changed I heard.
Thus I have to say I prefer the simpsons, as its continuarity from episode to episode is less than that of futurerama and so has more potential for ideas to be expressed in a funny way. Even the newest simpsons still make me laugh at times and generally are easier to understand than futurerama.