The state pension is taxable, but if you don't have any other income, you won't be taxed. You only start to pay tax if you earn more than £12,570 (in the 2023/24 tax year).
That said, if you defer your pension, any lump sum income you take is taxed differently (this is only an option if you reached state pension age before April 2016).
The figures above are only rough guides, as many other variables affect the amount you will get. You can try Gov.uk's calculator for an indication. The best way to find out is to ring 0800 731 7898 (option 2) – or see other more accessible contact methods.
A pension counts as if it were any other income, so will affect your entitlement to pension credit, housing benefit or council tax support. See our Benefits check guide.