See the full list here, and be sure to check back frequently for the latest advice from our experts. This post was updated on April 3 to note that withdrawals of Roth IRA contributions are always exempt from taxes and penalties. When it's time to take money out of your 401(k) or IRA, the magic number is 59 â½. That's the age at which you can withdraw money from a retirement plan without handing the IRS a 10% bonus on top of the regular taxes you will owe.