As long as you paid more taxes than you paid last year, or owe less than $1,000, there is no penalty. Since you retired, you probably paid quite a bit less.
I up my withholding so I do not have to pay estimated tax. I currently pay an additional $3,000 per month in federal taxes, and earlier in the year it was a bit less.
FIRE no later than 7/5/2016
at 56 (done), securing '16 401K match (done), getting '15 401K match (done), LTI Bonus (done), Perf bonus (done), maxing out 401K (done), picking up 1,000 hours to get another year of pension (done), July 1st benefits (vacation day, healthcare) (done), July 4th holiday. 0 days left. (done) OFFICIALLY RETIRED 7/5/2016!!