IRA Distribution in Retirement no tax filing.

I am retired and will be turning 70 this year. I have not filed taxes in a few years because i currently live on social security plus bond distributions (under $10k distribution a year).

My questions is, for 2019, i will be living solely on social security and a small IRA I have (no more bonds). How much can i withdraw before having to file/pay taxes? As mentioned, i haven't filed in years and don't wish to. What is the max distribution annually I can take before i would need to do this?

Thank you!