We would advise reporting any accident to your insurance company. Even minor ones if there is a chance that you or the other party may place a claim. If both of you were found at fault then likely you both are responsible for your own damages. You may realize that your damages are more substantial and need to place a claim through your collision coverage and if you inform your insurance provider of the accident now then if you have to place a claim later they will be ready for you.

See our article Accident Checklist - What to do following a motor vehicle accident.