When Cooper was about 4 months old, I was carrying him and walking across a parking lot. Cooper was already angry that I wasn't letting him walk (he's always been extremely independent) so he was struggling a little bit.
We were almost to the car when he literally RAN up my chest, over my shoulder and did a swan dive onto the pavement. I still get chills when I think about it.
I'm 6 feet tall, so he fell about 5 1/2 feet and landed directly on his head. Of course, I started doing this dance, jumping all around and trying not to scream like a crazy person. Cooper never missed a beat - he jumped up, shook his head around a bit and started running to the car like nothing happened.
I took him to the vet, he was fine and I was a complete mess. I think the fall did some good though; he's the smartest dog I've ever met. Maybe the pavement knocked sense into him.
I have always let him walk out of stores since then.
Glad your pup is okay - just remember they're pretty resiliant when they're puppies, too.