Yes. Even if you believe your injuries are not that serious, you should see a medical professional. Many times, these injuries are not readily apparent and remain hidden for some time. This can result in lasting damage if you do not act fast. That is why it can be imperative to get examined by a doctor as quickly as possible.
Additionally, when you get checked over by a doctor following your accident, they will write down their observations in their medical report. This report can be vital evidence that could help you prove the damages you experienced due to the accident and the extent of those damages.