A penile fracture is a real medical condition where the covering of the corpus cavernosa snaps due to trauma while erect. That being said, you'd be in a hell of a lot more pain with swelling if that's what you had done. I think this is just general soreness.
I must admit that i find this slightly amusing. :-) And, no, you have not 'broken' your penis. You can't break it, per se, because your penis contains no bones. but you can hurt it, and i think this is the case. The soreness should go away soon. And please watch where you are going in the future. :-) Blessings - Blu