Worse mom! My baby fell

I can't get over it! I feel horrible! In the middle of the night after feeding my 3 month old I started burping my baby, I didn't know how tired I was but I ended up falling asleep. Then I woke up to the sound of my baby falling off the bed. He cried but as soon as I picked him up he stopped , my husband turned on the lights and baby just starts smiling and baby talking to us. He was fine but I can't believe I let that happen, I ALWAYS tell my husband not to fall asleep with the baby on him because that can happen