I had exactly the same experience you have had. I kept it clean and it healed with no problem. I do understand that occasionally scar tissue builds up and requires surgery but that situation is very rare.
To CONFO: The torn foreskin is a site for infection if exposed to bacteria or viruses just like a cut on your hand. So if one has unprotected sex with a partner who has an STD the area where the foreskin is torn is likely to become infected.
can this situation cause an STD ?
dont worry happens alot for guys. that bit of skin is called the frenulum and it tore because you dint uce enough lubricant and went at it like a bull at a gate. slow down. it will heal no doc visit neccesary just keep it clean so it doesnt get infected.