The taxes that were taken out before were probably estate taxes. The beneficiaries are responsible for the actual inheritance tax, so yes you will need to add it on your taxes this year.
If this was a parent, then you do get a $3,000 deduction and then pay about 7.5%. For other relatives, the deduction is reduced to about $100 and the tax ranges from 10% - 30%. What state are you in?

