Anytime you have sexual intercourse, there is always a possibility of pregnancy. And since you did not use any protection at all (I'm assuming you are not on birth control pills) you run a rather high risk of becoming pregnant. It does not matter that he pulled out, pre-cum can get you pregnant as well.
You will have to wait and see if you miss your period, and if you do miss it, then take a test.

*edited for grammar

yes you can get pregnant from pre sperm (which he may not even realise has come out so dont bother listening to him if he says that doesnt happen to him). and in regards to wiping it off it only takes one microscopic sperm to fertilise your egg so thats really not the safest idea either.