My 10 year old daughter has been rewatching it for years. She found a role model in Leela and a name for her cat in Fry.
As for the references and jokes, yea many go over her head. But as time progresses, fewer and fewer. And she often asks about stuff she doesn’t understand.
Even without a complete understanding of the jokes and references, she absolutely adores the show. And is asking on a daily basis if the new episodes are out yet.