Yes and no.
My mom sees me watch the show, and she's watched parts of the show a couple of times with me. She thinks it's "nice that I'm watching the show".
She doesn't know about bronies though (or at least that's what I think). She doesn't know about the fan made stuff, she doesn't know that I go on this forum, etc.
As for my dad, I have no idea. We share a Netflix account so he could've seen me watching the show. If he did find out, I don't think he'll care. Heck, he watches Curious George sometimes.