Is one dose of rabies vaccine enough after minor contact with a dog?

In April, a dog’s teeth slightly touched my skin—there was no bleeding, just a light contact. I consulted a doctor who gave me a tetanus injection and one dose of the rabies vaccine. He said that was enough for my case.

It’s been a few months now and I’m perfectly fine, but I just wanted to ask—was that single dose enough? Should I be worried now?