Depends on how you define “user-friendly”. The word has become quite relative. However, just to assure you, Android requires maybe about 1% tech knowledge and 99% common sense. Plus there’s this forums and Google.
Android devices are very user friendly. Why did I say so? Because even my 4 year old niece could use one. If a four year old could use an android device, just about any other person could use it too. However, I find iOS devices a lot more simple and user friendly because iOS provides a very simple UI. Nevertheless, Android devices are very easy to use.
I agree with everyone above, Android is quite user-friendly. You always can upgrade or downgrade firmware and/or choose a different ROM depending on what you’re looking for. I’ve found Android 2.3 (Gingerbread) to be the most user-friendly of all, but all versions are quite easy to use