This is an excellent museum and one you can visit again and again. It's not so big that you can't get through it in a couple of hours.
On the other hand, there's plenty there to ensure you won't be bored with repeated visits. We live in Cambridge and our whole family really enjoys going to the Fitz. My three year old enjoys the glass elevator and the knights and amour. My seven year old daughter likes the Sasakawa Fan Gallery and the European Porcelain and Pottery. I prefer the European art and we all enjoy the classical architecture. The courtyard cafe has nice snacks and lunches in an airy environment and is a perfect place to sit and rest in between galleries. They have done a lot to make it fun for kids there too with various family activity packs and trails you can follow. These are free and can be picked up at the front desks. There are often free lunchtime music concerts and lectures. Because entry is by donation, even if only have an hour or two to spare, throw in a couple of pounds and go. You are sure to enjoy yourself.