The Simpsons vs Family Guy vs Futurama

I've been watching the Simpsons for over 15 years and, even though the quality of the show has decreased drastically, it is still one of the best things you can find of TV on this genre. Futurama is great too but sadly it never managed to get the same big audience that the Simpsons had and it was cancelled twice. Never been a big fan of Family Guy, but they also have a big following. Which one is your favourite?