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.