While I'm very sorry that this happened to you and to your dragon, it's a hard lesson to learn. There have been hundreds of people who have killed both their reptiles and their pet birds by sleeping with them, usually by collapsed lungs, broken ribs that puncture their lungs, internal injuries and bleeding, and suffocation into the mattress. Please never, every do this again. I'm sure you know this by now, and I'm not trying to put you on a guilt trip at all, just to educate you as to why you cannot do this again, especially with such a small juvenile dragon. If he survives this you cannot ever do it again.
There is nothing that you can do to help her without an experienced reptile vet, as there are no home remedies that can help internal injuries or broken bones. I suggest that you now start an emergency veterinary fund for her, as what will you do if she becomes sick with parasites or an infection, like an upper respiratory infection? You can not cure these things at home, they require cultures and prescription medications, just like we need to go to the doctor when we get sick with bronchitis or strep throat, people have died from strep throat because they refused to go to a doctor. Or she could have another accident and injure herself and need an x-ray and most of all prescription pain medication. Can you imagine breaking your leg and not having any prescription pain medication? I have broken a few bones, once shattered my leg playing varsity softball where a bone came through, and I can't imagine going through that without going to the doctor and getting prescription strength pain meds. So my best suggestion is to put a portion of each pay check you get into either an emergency veterinary account at your bank, or even just get a big jar and put all your extra change you have in your pocket at the end of each day. Taking even just $20 from each pay check you get and putting it in the jar along with spare change will add up, if you're paid twice a month you'd have the money for an average vet appointment and medications if he gets sick or injured in 2 months. Just don't touch that money, set it aside, and it will get to the point where you have between $500-$1,000 in his emergency vet fund in no time at $20 a pay check. That way if he would ever need surgery, God forbid, that costs $500 to $1,000 to survive, you won't have to make that hard decision to rehome him or put him to sleep, you can pay for the surgery for him yourself and keep him.
I myself have many pets, 2 dogs, 4 parrots, and 3 dragons (and a large tropical shark aquarium), so I forced myself a long time ago to do the same, I started out putting $20 a pay check in the "Pet Fund", a general pet fund to not only pay for unexpected veterinary care for any of my pets, but for ANY of the MANY things that can and will pop-up that cost money, things like when the Beardie's UVB tubes are due to be replaced (must be replaced once every 6 months or once every year, depending on what UVB tube you have, as they stop emitting any
UVB light at one of those ages, just an FYI to you in case you didn't know that, very important), or when a UVB tube or a Basking Bulb would suddenly burn-out or break, or one of the parrots developed an upper respiratory infection, or when the dogs were due for their yearly shots, or when I would run out of dog food, parrot food, and live insects for the dragons all at once, etc. Those are the times I was so thankful that I had that "Emergency Pet Fund". I started out putting $20 a pay check in, and as I made more and more money I would put more and more money in, maybe $50 a paycheck or $100 a paycheck, and before I knew it I have several thousand dollars in the Pet Fund, and it was such peace of mind to have! I knew that if one of my family members (they are my family members) got very sick or needed surgery or expensive diagnostic tests, like a CAT Scan, MRI, etc. that can cost up to $1,000 a piece, I didn't have to worry, I knew I had the money! To me, making the decision to have pets is no different than deciding to have human children, if you're going to do it you have to be responsible for them, and it's not fair to them if they become sick or injured and are in pain, and I am not financially able to get them the help that they need. So just a suggestion for you to consider starting, the money really does add-up quickly and it is such a good feeling to know you will have no problem getting them to a vet when they need it.
She could very well still be in pain, but more than likely she is traumatized, as is to be expected. Bearded Dragons become extremely stressed when things like this happen. My best advice to you is to stop handling her for a couple of days, you should talk to her softly from outside her tank, let her know you're still there and try to comfort her that way, but just let her de-stress and calm down, as half of her initial problem was probably extreme stress. They become very scared and skitterish, as you already mentioned he was, and he doesn't understand why you were crushing him and wouldn't get off of him while he was hurting. It was a total accident and not your fault, obviously you didn't do it purposely, but he doesn't understand that. Just feed him and clean his tank normally, make sure his lights are on for at least 13-14 hours a day, check his temperature zones and make sure they are good, but do not handle him or reach your hands in the tank for a few days, especially since he's acting very uneasy when you're doing so. He needs to relax and de-stress for a while.
As far as his possible physical injuries, watch him closely, make sure he continues to eat normally every day and is active as he normally is, and all any of us can tell you is that if he again starts to
black beard, stops eating, or starts sleeping a lot, these are all indications that he's in pain and has internal injuries that require emergency Veterinary Care from an experienced Reptile Vet, and you're just going to have to borrow the money from someone to take him ASAP. Hopefully this won't happen and he'll be okay if you just let him decompress and relax without startling him or making him uncomfortable for a few day by handling him, hopefully he'll calm down and come around. But please, in the meantime so that this isn't an issue again in the future for you or him, please start putting money aside each pay check for him.