Both the Dutch IND and the Czech Ministry of Foreign Affairs agree your residence permit is indeed enough to travel in the Schengen area without a visa:
Czech Ministry of Foreign Affairs:
Persons belonging to one of the following categories may stay temporarily in the Czech Republic/Schengen area without a visa:
citizens of the EU, Iceland, Norway, Lichtenstein, and Switzerland – see chapter "Stay of citizens of the EU, Iceland, Norway, Liechtenstein and Switzerland in the Czech Republic";
citizens/holders of travel documents of a state, with which there exists visa-free regime
holders of long-term visa "D" issued by any Schengen state - this visa contains a function of a Schengen (short-term) visa;
holders of a long-term or permanent residence permit in another Schengen state and the stay in the Czech Republic does not exceed 90 days (3 months);
Dutch Immigration and Naturalisation Service:
Travelling with your residence permit
With a valid residence permit and a valid travel document you can travel to and stay in the Schengen area without the need for a visa.
If your residence permit is expired or will expire during your trip you may apply for a return visa while awaiting the procedure to have your residence permit extended or changed.
