Yes. The retirement income is typically reported to you on a Form 1099-R, and should be included in your tax return.
Note, however, that depending on your total income, you may or may not be required to file a tax return. But, even if you are not required to file a tax return, you may want to file a tax return if you are due a refund of federal or state taxes you have paid.
See IRS Publication Table 1 at this link for the filing requirements for most taxpayers.
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