Roth IRA withdrawal guidelines. These retirement plans can include:In the event of disability, your earnings can be withdrawn tax free if the date of withdrawal has been at least five tax years from your first. First, a Traditional IRA is taxed when you withdraw the funds, ideally after the age of 59½ to avoid early withdrawal penalties. You can withdraw your Roth IRA contributions at any time, tax-free and penalty-free. Under special circumstances, you can withdraw funds from your Roth IRA before age 59 ½ without paying standard penalties. People over age 59½ who've held their accounts for at least five years can withdraw contributions and earnings with no tax or penalty. The penalty imposed on an early withdrawal from a certificate will be equal to a percentage of the amount of the principal balance that is withdrawn. Can I withdraw from my Roth IRA early without penalties? Contact Us. Deferred Compensation Email.