Happens to the best of us so don't panic. Just monitor her for a couple of days like Veirville suggested.
If it happens again don't pick her up straight away, allow her to move around a bit first. You'll be able to judge if she's hurt then. Obviously some injuries take longer to show.
2 of my cages are on the floor so I can be sat by them. 2 are higher up so I have a chair there. Another way is to put them in a cup and carry them to a safe place then. All mine are in my room so my bed isn't far so I put some fleece down so they don't pee on my bed. They can have an explore and climb all over me with a soft landing if they fall
