Firefox works when run with sudo privileges, you say? You shouldn't need to reinstall Firefox, like the person above suggested.
Try this first:
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sudo chown -R $USER: /home/$USER/.mozilla
(And replace $USER with your actual username.)
Now try opening Firefox again. Should that fail, try the next steps.
Open up your file browser (Nautilus), browse to your Home folder, press CTRL + H to reveal all hidden folders, and then rename the hidden ".mozilla" folder to ".mozilla_old". Now try opening Firefox. (Another way would be to run Firefox in a terminal with "firefox -safe-mode", which doesn't use your Firefox profile either.)
Using this alternate step, you'll notice that you now have a bare browser, with all your addons, passwords, history, personas, gone. They're in your ".mozilla_old" folder, if you want to retrieve them...but don't just copy your entire profile, since obviously something is wrong with it.
The reason you can not open Firefox without root privileges is because you ran Firefox with sudo; thus, there may have been some files in your profile that were overwritten with root privileges, which your normal user cannot do. Next time, please use "gksudo firefox" instead of just sudo.