Money that comes from a tax-advantaged retirement account, that was not taxed when it was contributed, is always taxed when you take the money out (because it was not taxed going in). This applies to pensions, annuities, traditional IRA accounts, 401k, 403b accounts, and any other tax-advantaged retirement scheme.
There may be some exceptions—for example, a pension from a state government may be tax-free in that state, although it is still subject to federal income tax. And social security is tax-free if your outside income is under the various limits that may apply to you. A traditional IRA does not qualify for any tax-free treatments that I am aware of.
The current standard deductions are $12,000 for single and $24,000 for married filing jointly, so withdrawals under that amount aren't taxed either. But once you withdraw more than that, you are subject to the 10% or 12% federal income tax rates, plus state income tax.
Roth IRAs are also an exception, in a Roth, the money was taxed going in, so once you reach retirement age, your withdrawals are tax-free, both the original contributions AND any gains. But that only applies to Roth accounts. And if you want to convert a traditional IRA to a Roth IRA, you'll have to pay the income tax when you do the conversion.