Foundation is really more of a series of connected short stories than a novel (and was originally written as such, with the stories first published in a magazine). It is divided into multiple parts with considerable time jumps between them, and this necessitates having different main characters for each part. For this reason, the book definitely won't suit all readers. However it isn't dry or dense, and I think if you're somebody who  can enjoy short stories this is a very accessible book even for someone not accustomed to reading scifi classics. 

Where the book shines is the politics. It is a heavily political and philosophical book with a large percentage of the text being dialogue. There's little action on page, with many key events taking place in the background or in between stories. I found the central concept of being able to accurately predict the path of civilisations centuries into the future unconvincing, but there was much about the book which interested me. 

It is notable that there is a near-total absence of women in the novel, remarkably so even for a book written in the 1950s. 

Overall I enjoyed Foundation and would like to at some point continue with the trilogy. I'm also very intrigued to check out the TV adaptation, which I'm aware is significantly different.