no not if you urinated between the time you masturbated and when you had sex. sperm will die as soon as it dries but you want to make sure your pre-cum isn't carrying any live sperm. if you urinate though usually that flushes the urethra. still you are playing with fire and asking for trouble. at the very least invest in some condoms.
how long does residual sperm live on the penis? . i had masturbated at about 12pm and i had unprotected sex at about 8:30 pm should i be worried about my girlfriend getting pregnant?