My daughter trod on one of our rabbit's paws completely by accident and she squealed - and I mean she really did squeal; it was loud! (so much for being a silent pet!). However, we didn't take her to the vet (didn't think of it to be honest
) and she was fine; didn't favour that paw, no extra licking etc and the paw's fine. This was when we first got them though, so like 4 years ago when we were still learning.
So I personally think that if your rabbit is behaving normally and not favouring that paw/limping, then the chances are he will be okay. However, you must keep a very close eye on said paw and if things change over the next 48 hours - extra licking, limping, swelling, you MUST go and see your vet immediately.
But of course I'm no vet, I'm just going on what happened with us; maybe Niamh, being only 8 years old at the time, was light enough not to cause damage and the rabbit (can't remember which one now) squealed through the shock only, rather than pain.
So you know your rabbit, it's your conscience, if in any doubt, take him to the vet tomorrow for your own peace of mind.
Looking back, we should have but we got lucky I guess.