If you are at least 59 ½ years old and you made your first contribution to a Roth IRA at least 5 years ago, withdrawals will not be taxed as income and are not subject to the 10% early withdrawal penalty. 

Otherwise, withdrawals from a Roth IRA are treated first as a return of contributions. This means that you will only be taxed on the portion that exceeds the contributions you have made into your Roth IRA. 

The portion that exceeds your contributions are considered earnings and will be taxed at ordinary income rates and subject to the 10% early withdrawal penalty.