In most states, drivers are required to make a police report if they are involved in an accident where there are injuries, death or property damages over a certain monetary amount, typically $250 to $1500 depending on the state. So you did the right thing by filing a police report. A police report is also helpful when drivers decide to either pay for their own damages or pay for the other's damages but then back out of the deal and insurance companies do become involved.

Generally, any crash you are in will be placed on your driving record, regardless of fault. So your insurance company might see this accident on your MVR the next time they check it. If it was a small incident and because you did not file a claim it might not affect your insurance rates. Insurance companies differ on their rating rules so I cannot definitely say that it will not cause you a rise in your premium. You can check with your state's insurance regulatory agency to find out about your insurance company's rating system since it must be filed with this entity.