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The crawling rules state you can crawl at 5 feet speed, thus a withdraw action should be able to move you 10 feet away.
I feel the answer should be 'no', because it would render without sense the tumbling while crawling option covered within the acrobatics rules, and would render the rogue talent rogue crawl to move while prone much less advantageous. However, I cannot find anything in neither the crawling or the Withdraw rules to deny this action while prone.
Crawling explicitly provokes an attack of opportunity.
Crawling
You can crawl 5 feet as a move action. Crawling incurs attacks of opportunity from any attackers who threaten you at any point of your crawl. A crawling character is considered prone and must take a move action to stand up, provoking an attack of opportunity. - http://www.d20pfsrd.com/gamemastering/combat#TOC-Move
As such, I do not believe it would be reasonable to interpret the rules in a way that treats crawling as base speed.
You may not withdraw using a form of movement for which you don't have a listed speed. - http://www.d20pfsrd.com/gamemastering/combat#TOC-Withdraw
As normally you so not have a listed crawling speed, I would have to say the rules appear to disallow the action.
