You should not mix Roth IRA funds with the other types of IRAs. If you do, the Roth IRA funds will become taxable. Regular Income Tax Only: Voluntary On-Time Withdrawal/Traditional IRAs and Other Non-Roth IRAs. Once you reach age 59½, you can withdraw money without a 10% penalty from any type of IRA. If it's a Roth IRA, you won't owe any income tax. If it's not you will. If the money is deposited in a traditional IRA, SEP IRA, Simple IRA or SARSEP IRA you will owe taxes at your current tax rate on the amount you take out. For example, if you are in the 15% tax bracket, your withdrawal will be taxed at 15%.