Yes, pensions and annuities are generally taxable income. You should receive a Form 1099-R reporting your total distributions for the year for each plan.
We use the info from your 1099-R and your answers to a series of questions to determine the taxable amount of your distribution.
We've got help for entering your 1099-R. You can also search for 1099-R and select the Jump to link from the results.