Your husband is right, there is a lot of padding in their specifically to protect your bub. Try not to worry, I'm sure your baby will be fine, all limbs intact.
Remember your ligaments and bones etc are all softening up at the moment so it probably hurt you because of that.
I was playing indoor netball up until about 20 weeks and took quite a big fall. I was quite worried about it but my MW reassured me that baby would be fine. As long as your still getting normal movements all will be ok.
But, perhaps give your MW a call just to ease your mind.