A great article detailing how, in limited situations or circumstances, one can potentially withdrawal money from an IRA without incurring a 10% penalty. As imagined, these situations are rather limited:

disability (i.e., where an individual cannot participate in gainful activity or employment);
one’s medical expenses exceed 10% of their AGI;
to cover health insurance for themselves, their spouse, and their dependents;
to cover qualified higher education expenses;
a first time home purchase;
withdrawals that meet I.R.C. section 72t exceptions (see earlier post for a further explanation of this option); and
beneficiaries of an inherited IRA (these beneficiaries are required to take withdrawals).