I have a bearded dragon, he had two prievious owners, then has ben with me for bout a year. ?

The othr day he fell off my couch, he now limps on his back right leg n his tail does not curl up (like a scorion) wen he walks anymore. He does not appear to be in any pain, it stiffens up, but I am able to tug on his tail n pop it like we would our fingers. Wat shld I do? Is this healthy?