Withdrawing Funds from Roth IRA BEFORE age 59 1/2

I need access to money as I am temporarily not earning income.  I have over $100,000 saved in a Roth IRA which has been in place for over 5 years.  I am only 57.  I heard that I was able to take money from my Roth IRA without incurring any fees or penalties as long as I only took out money I actually contributed, not any of the interest or gains the funds earned while invested.  I am looking for verification that I have this option.  I look forward to confirmation!! Thank you.