401K withdrawal

Hello,

Question: I retired from my previous employer and I left my 401K with them which is currently held at Prudential Retirement and I am 55 yrs old. I withdrew some funds from my 401K and I was told by one of the Prudential rep that because I retired from my  employer and that I am 55 yrs old that the 10% tax penalty does not apply? Is that accurate? Thank you.