Yes Taxable. There are some exceptions like if you buy a home using your IRA you can avoid the 10% Early Withdrawal Penalty if you are under 59 1/2 but that doesn't apply to you since you are older. When you turn 70 1/2 you can make a direct distribution to a charity from an IRA and avoid the tax.
See IRS Publication 590B on Distributions
https://www.irs.gov/pub/irs-pdf/p590b.pdf
