Yes, you do have to report the 1099-R in your tax return. The IRS has a copy of it. You may have received it if you rolled over funds into another retirement account, in which case it isn't taxable. Or if you took out a loan on your 401k and stopped making payments on it, the loan balance would be considered a distribution.
The Code in Box 7 shows what type of distribution it was.
Here's info on how to enter it in TurboTax:
https://ttlc.intuit.com/replies/4194737
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