No, he should be seen by a vet to make sure there is no internal damage, the sooner the better! A full grown person stepping on a kitten is like being hit by a car! I know it might be expensive, but it is something that has to be done. I'll pray for that little one!
I agree with Di and Bob, your kitty needs a vet. The only way to make sure your kitten is okay is by seeing a vet. Please try and get your kitty to a vet as soon as possible. Wishing you and your kitten all the best!