Welcome to the STD forum.
No STD is a likely explanation, since you used a condom. This sounds more like it might in fact be due to the condoms themselves, i.e. maybe an allergy to latex, or chemical/allergic reaction to lubricant in the condoms. The latter is especially likely if the lubricant contained the spermicide nonoxynol-9 (the most common spermicide), which can be quite irritating. Alternatively, perhaps this is nothing more than minor irritation due to the vigor of sex.
If your symptoms persist or you otherwise remain concerned, see a doctor or clinic about it. Your local health department STD clinic would be an excellent choice, or see your primary care provider. In that case, perhaps your partner also should be examined. But my bet is that neither of you has any STD that explains these symptoms.
Good luck-- HHH, MD
Thank you Dr. Handsfield. Are there any over the counter creams to prescribe for this or will they disappear within a few days or weeks?