With a traditional IRA you are allowed to make tax deductible contributions up to a certain amount per year depending on your age. Any withdrawal from the traditional IRA may be subject to taxes.
A Roth IRA allows you to make non tax deductible contributions up to a certain amount depending upon age. Withdrawals of original contribution are tax free; potentially tax-free withdrawal of earnings if part of a qualified withdrawal.
Both types of IRAs have penalties for withdrawals prior to the age of 59 1/2.