Please call the vet. This happened to J a couple of years ago, he jumped off my mams knee and jarred himself. I have never heard a yelp like it and he was shivering and cowering under the table. I took him to the vet and she examined him all over and listened to his heart and lungs and he was clear and the vet said he had just jarred himself when he landed but i am glad i went straight to the vet just for the assurance that he was fine.
Dogs hide pain quite well so if she is yelping and shivering she is suffering and in pain. Please take her to the vet. that everything is ok.