Withdraw 401k at age 55 when Ieft employer. 10K of that money I rolled into IRA. 2 plus yrs - withdrew all IRA funds. I know I pay taxes. but do I pay a penalty?

Questionis? because that money that i rolled into IRA came when I left at 55 and did a total distribution? do I have to pay the penalty because I am only 59? I know I have to pay taxes on the withdrew funds   Just dont know if 10% would apply since it was taken out after 55 as a full withdrawal.