Penis lumps always freak people out. I think if you are worried, yes. Get it checked by your doctor. It is most likely nothing though. Have you had any recent sexual encounters in which an std check would be wise? Here's some information on basic penis things that happen. https://www.mayoclinic.org/healthy-lifestyle/mens-health/in-depth/penis-health/art-20046175
When in doubt, get checked out.