Practically, if there was no ejaculation, there wasn't substantial risk. However, purely from an HIV risk assessment point of view, there was risk and it warrants testing.
There need not be too much to worry about just take a test at 28 days with a IV Gen HIV test or at 42 days or later with any standard antibody test and let this go. Exposure was for a brief moment, also the truth must be that your partner was HIV negative.