Nope. Baby is VERY protected in there. I had the same worries with a few small falls during my pregnancy. Babies in the womb often survive car wrecks.
If your baby is moving, you are fine. If it happens again and you are worried or the baby isn't moving- eat a small snack, drink juice and lay down. Count kicks over one hour. You should feel at least 10 but you will probably feel many more.