Providing that you have re charged them again and they haven't puffed up or anything (keep a regular close eye on them though after damaging them) then you have either been totally lucky and got away with it, or in some cases you can partially lose some of the batteries capacity, how much loss will depend on how much damage there is usually, but in other cases it may just wipe out one cell.

But as you said that the voltage reads fine then you may be lucky.

Do you have a balancing plug on that lipo ?

If so, then I would not only check the total voltage, but also check the voltage of each individual cell, to make sure that they are still in balance with each other by being no more than 1/20 of a volt ( 0.05 volts) difference between all cells.
This will give you a good idea if any single cell is either damaged, or maybe just out of balance from normal use.