It'd be helpful to have more context about your development experience. I've done some iOS development in the past, and as spapas82 mentioned once you understand the core Android concepts it's easy to pick up. The docs are good, and there's a lot of tutorials and small articles to get you going.

If you've never done native mobile app development (e.g. you only have background in web dev), then regardless which platform you start off with, the initial learning curve will be a bit steep. Most APIs are "lower level" than the web counterparts and there's more ceremony to piece things together since you're working in such a constrained environment (memory, CPU, battery, network speeds, inconsistent internet access, disk space).

All that said, I think Android is a _taaaad_ easier to start off with vs iOS if you're a web dev. There's the GC, the Activity model is similar to web pages and their View XML abstraction is not that far off from HTML/CSS.