Yes, if you are over 55 then you can usually access pension benefits from a personal pension and continue to work.
Likewise, with your State Pension, if you are eligible and have reached the State Pension age then you can claim your pension but continue to work.
As you progress in your career as a contractor and approach the age at which you want to retire, you might decide to reduce your working pattern to 2 or 3 days per week and work on more of a consultancy basis. You may want to compensate for any reduction in hours by supplementing your income with withdrawals from your pension. However, you may want to ensure you understand the tax implications on your income and speak with a financial adviser before taking any action.