Yes. My girl jumped out of her tank a little over 2 months ago and was out of the water at least a half an hour before I found her. She fell at least 4 feet and landed in the dustiest corner of my room. I had to rinse her off, then after she sunk to the bottom of her tank, I had to grab her out and rinse her off some more. It took her several days to get back to her normal, spunky, piggy self (she LOVES to eat). And it took almost 2 months for her tail and fins to grow back fully, but now, you wouldn't even know she had ever jumped out.
Give him some time, keep his water warm and clean, and he should be fine. Given that you stepped on him, keep an eye for any sign of internal or external damage. Also, cover ever tiny little hole on the lid of your tank. Mine has a lid, but she managed to jump out of a hole barely a half inch big.