Not including Adult Swim, canceled, and children's shows, which is your favorite animated comedy television show?
American Dad! (FOX)
Archer (FX)
Bob's Burgers (FOX)
The Cleveland Show (FOX)
Family Guy (FOX)
Futurama (Comedy Central)
Glenn Martin, DDS (Nick @ Nite)
Neighbors from Hell (TBS)
The Simpsons (FOX)
South Park (Comedy Central)
Ugly Americans (Comedy Central)
"The Simpsons" during its prime was far and away not only the best show on this list but the best show of all time. Pretty much the entire state of TV comedy (which I think has been really great as of late) can be attributable to its influence. It's hard to recognize when you don't have the perspective of life without it, but it was truly groundbreaking at the time.
That being said, "Archer" is easily the best on that list right now. It's pretty much a laugh every five seconds type show, and H. Jon Benjamin is an amazingly hilarious voice actor.
"Family Guy" and the other Seth MacFarlane vehicles are putrid crap, IMO.