Satire is legal in the United States and always has been. It is legal due to our first amendment rights. In our first amendment, it states that the citizens in the U.S. are free to publish mostly anything they want including satire. However, there are exceptions to every rule. Things can be published without being censored.
However, there are inappropriate language that will be taken off of websites or refused to be published because the content is too harsh and inappropriate. Satire, for the most part, will be published even if it makes fun of someone or something. Some things offend people, but the author can still publish it, but they may end up having to apologize for their work later.