You may need to file, depending on how much your pension income was.
But even if you’re not required to file a return, you might want to anyway, just to get back any income tax you’ve had withheld on your Forms 1099-R. Please see the TurboTax Help articles Do I need to file a federal return this year? and Is my Social Security income taxable? to see if you need to file.
Bear in mind that your state may have different filing requirements.