The battery is more likely survive that than the ESC. If the ESC is fine and the battery did not have an obvious meltdown then you should be OK.

If you have any worry at all put it on the charger. They in many cases have built in protection to shield themselves against things like revers polarity or bad cells in the lipo. They will tell you if there is serious issue, and a balance charge can give you a hint as to more subtle issues. If it takes forever to balance then the cells are likely done for, but that is an age issue in most cases.