Yes, if he is still limping in the morning he needs to see the vet. In the future you need to make sure that he does not jump like that EVER. There are so many stories of breaks to their tiny little bones. You have to be very careful when it comes to owning a yorkie. BTW welcome to YT! Hope you stick around and maybe share a few pictures and plus you can gain tons of knowledge about owning one of these little guys.