Yes, you should include the Roth IRA withdrawal on your tax return.
You should receive a Form 1099-R for your Roth IRA withdrawal. The distribution will be reported on Line 4a of your 1040 and the taxable amount (zero in your case) on Line 4b. As you mentioned, as long as you haven't removed more than you put in, your distribution will be tax free.
Please see IRS: ROTH Distributions
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