When you retire you usually take a retirement lump sum first. The first €200,000 across all your pensions is tax-free, the next €300,000 is taxed at 20%, and anything above €500,000 is taxed as income.
The rest can buy an annuity, an income for life, or go into an approved retirement fund, where it stays invested and you draw an income. From the year you turn 61, you are taxed on at least 4% of an ARF's value each year whether you draw it or not, rising to 5% from 71.