There is a whole list of Roth exemptions, that allow penalty free access to the entire balance. Medical, college, first time homebuyer, there are others.
Though in many cases, just paying the 10% penalty is a better deal than the taxes you would have lost if you had not invested in the Roth, due to contributions reducing your marginal rate while working (usually your lifetime highest rate) but then coming out at your bottom rate while retired (low, possibly zero after deductions and exemptions, plus the 10% penalty).