I think if he's still showing obvious signs of pain after another day or two, you need to take him in. Also, if he's showing other signs of discomfort such as heavy panting or the inability to sit still, you need to keep an eye on him further. I don't want to be negative Nancy over here, but when my dog hurt his leg and and limped/held it in the air/showed other signs of discomfort, it ended up being bone cancer. Again, I don't want to scare you but in my experience we need to be really vigilant and pay attention to our animals because they can't tell us, they can only show us. He probably (hopefully) just landed wrong on his paw when he jumped up.
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