I've been intending on doing a series examining comedy in science fiction. Yesterday I found out that WatchMojo has beaten me to it.
Now, I don't agree with all their choices--some of these series I haven't seen, and a few in the "honorable mention" list ought to have made it into the Top Ten, such as "The Hitchhiker's Guide to the Galaxy." I'm also not so sure I'd call "Firefly" a comedy. And they didn't include "My Favorite Martian," I suppose because no one who watches YouTube videos was alive back then.
The criteria for inclusion may have been "shows that ran for more than one season." Again--"Firefly?" Several of the commenters seem to agree that "Firefly" should not be on the list.
If you're looking at obscure sci fi cartoons, "Mr. Peabody"--the original Jay Ward version from the "Rocky & Bullwinkle" show--ought to have been on here, although since these were a series of shorts rather than a stand-alone series, they probably don't qualify.
"New Yoda Chronicles" and its iterations should be on the list. They're more entertaining than "Invader Zim," which I found to be creepy and mean-spirited and not a bit "hilarious."
I guess it's a matter of "you mileage may vary."