If the head of your penis was covered, you can forget about HIV, gonorrhea and chlamydia.
There are stds that can be transmitted through the contact skin to skin though, like syphilis, herpes and HPV, but in all those cases your skin would have to touch the lesions those infections would have left previously on that lady's skin. But you would have seen those lesions in the genital area.
In general, I don't see any risk and there is no reason to test.