was i raped?

so i've been with my boyfriend for about six months and we are overwhelmingly attracted to each other. make out sessions usually end in bjs or him fingering me and that's fine. but i continue to make it known that i'm not ready for sex and he always respected that. last night we were fooling around and it got intense. he was on top of me and i willingly had my pants/underwear down. long story short, he penetrated me despite me telling him "no" multiple times. he told me to "just let it happen" and it did. he wasn't in for longer than a minute and i left shortly after that. i'm not sure how to feel, i'm not sure if it can be considered as rape. i love him and i'm very torn about what to do. please help