Based on the history you provided, your dog may have sustained a bone or muscle bruise, but falls or traumas can also result in more serious injuries, such as ligament tears or fractures.
Below is a link for a common injury in the rear limbs of dogs who have recently sustained trauma for your information.:
With limping resulting from any significant trauma, a veterinary visit is advised. If you would like to consult with a veterinarian 24 hours a day, 7 days a week, please refer to our AskTheVet page
My dog Khloe is Chihuahua she tried to jump from a chair over to the couch but didn’t make it. She was really sore the first night then so we kept an eye in it the next day she was fine. Vet visit??????