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Depends on the ten year old, some will, some won't. They'd probably miss quite a lot of the references regardless but it can still be entertaining.
Pratchett also did some children's books that I remember being pretty good. The Truckers trilogy, Johnny and the Bomb and Only You can save mankind, Dodger and a few others.
I can't remember what age I read the Redwall books but I remember them being excellent.
So we all agree that a 10 year old can grasp Hitchiker' Guide to the Galaxy? I'd love to be the one who introduces it to him, get one up on my brother for decades to come.