I had a retirement plan that was a direct rollover to a qualified plan. I received a 1099-R, code "G" is in box 7. Do I need to enter this into my taxes this year?

Yes, please enter the 1099-R into TurboTax.

Even though the amount rolled over is not taxable, it prints on page 1 of the 1040 (but not in the taxable income column). In this way, the IRS can see that the 1099-Rs that they received match your tax return. TurboTax will ask for the code in box 7 (the G), and the software will handle it correctly.