You provide no information the nature of your sex worker partner (male? female? escort? brothel worker?) or where you are (country, city, etc -- which affect the chance she might have various STIs. You also say nothing about which infection(s) you are most concerned about (gonorrhea? chlamydia? syphilis? HIV?). Usually testing is not necessary or recommended after any single sexual exposure, even if not condom protected:  most female sex workers have no transmissible STI; and even when infected, transmission often doesn't occur.

For those reasons, whether or not you are tested -- and for which infections -- is up to you. Your risk of infection probably was very low but not zero;  sometimes there are unexplained condom failures. And condoms are inherently less effective against the STIs transmitted primarily by skin contact (like HPV, HSV and syphilis) than those transmitted primarily through genital fluids (like chlamydia, gonorrhea and HIV).

If you are nervous and would like the reassurance of knowing you have tested negative, you could have a urine gonorrhea/chlamydia test 4-5 days after the event; and blood tests for HIV and syphillis after 6 weeks. If you would like to provide more information about the situation and the STIs you are most concerned about, I might have additional advice. Let me know. In the meantime, I hope this information is helpful.

HHH, MD