How long did he act as tho he was in pain, crying? If it was more than a couple of minutes I agree that he should be seen by a vet.
On the other hand one of mine, Chloe, is a definite drama queen.
I have learned with her (after many rushed visits to the vets) instead of immediately setting out on the trip to give it a moment and if she continues limping and/or whimpering to grab either one of her absolute favorite toys or treats. I have discovered that she thrives on the "poor baby" attention and will play the part to the hilt. But her secret is revealed if I toss her favorite toy & she immediately & completely forgets about her "oh so painful injury" and starts running & bouncing around with no limp or crying.
I hope your furpal is OK!