Not a kids' show, no, but TNG did end up being kind of a stodgy "establishment" show determined to set a good example. Certainly in comparison to its predecessor. TOS was the NYPD Blue of its day, constantly pushing the envelope in terms of skin and sexual content, its SF premise (and the mistaken perception that SF meant kiddie show, so that the people who'd complain were generally looking the other way) letting it get away with more than most other shows could. Aside from the kinkier stuff like slave girls and lovebots and seductresses wielding alien love potions, the show also dealt with surprisingly adult issues like sterility ("Wink of an Eye") and contraception ("The Mark of Gideon").
TNG started out showing some of these same sensibilities, with the sexual disinhibitions of "The Naked Now," the hedonistic planet of "Justice," the nude Betazoid weddings of "Haven," etc. But it ended up evolving away from that and becoming a lot more sedate. Unlike TOS, which was an iconoclastic underdog of a show, TNG was the embodiment of a highly successful and profitable franchise, and so it had more of an establishment flavor to it. It was kind of like the '60s hippie teen that grew up to become a business-suited, somewhat conservative executive.