Hello,
How far did your little guy fall? He may be fine, but I would suggest keeping a close eye on him, since it's only been a few days since the fall. Beardies do tend to hide the fact that they are hurt or feel pain. Just keep a look out for any odd behavior, but he's probably okay. Those little buggers are good at leaping off of things. They do know how to keep us guessing and worrying, don't they?
Dawn