Anytime you withdraw money from an IRA for anything other than the intended purpose you will be hit with a penalty. Most likely this will be in the form of a heavy tax which you will have to file on your income tax.
YES, you will get penalized. If you're in a financial situation PLEASE DO NOT PUNISH YOUR CHILD and take the money he is supposed to use for his education. My parents took my money from me as a child and it stuck with me forever.