The website indicates 10 and up (it has a kids page) but we had no problem visiting with 5 and up (we are quite careful but don't shield our children as much as other parents). It's up to you.

If you expect to come back to Amsterdam in the future you could skip it - if not I'd go. A visit with small kids would last no more than 60 minutes.

Side note - if you do decide to go: buy tickets on-line before you visit - lines are very long.