The first 4 seasons of Futurama were gold in my opinion. I think it also ended pretty perfectly so whilst I saw the films, which were okay, I've never gone on to watch the subsequent series they've produced.
It wasn't massively alike with The Simpsons, but it had a lot of heart and some classic episodes up there with some of the top Simpsons' stuff as one offs.
Zapp Brannigan is also massively quotable and his C-O-L-A is brilliant.