Yes, you should always seek a medical evaluation after you have been in an accident, because:
Adrenaline and shock from the accident could be masking the pain of your injuries so that you are not aware of how serious they are. This often does not wear off for an hour or more.
Many serious injuries present with delayed symptoms, including internal injuries as well as some traumatic brain injuries. Waiting until the injuries can be felt often results in worsening conditions and can even place you in jeopardy for dangerous complications such as internal bleeding.
Seeking prompt medical treatment develops a paper trail of evidence that you will likely need to prove your case.