So my first thought is to give your body a few days to just reset. Don't masturbate or have sex, and then see how you feel.
Drink plenty of water (don't overdo this, just make sure you're hydrated).
If it's a one time thing, you don't need to go to the doctor. If it happens again, you may need to. You won't know until you see how you feel in a few days. Don't panic - it may be just fine.
Update, after sleeping i woke up with my testicles kinda hurting, it's not a severe pain but it's something worth telling