If you didn't hear anything odd, why do you think you damaged the speakers?
It isn't speakers that "clip", but an amplifier that doesn't have enough power to reproduce the signal at the level being requested. More simply, if you turn the volume up too loud, and the receiver/amp can't deliver what you're asking, then you may experience clipping.
Hard enough clipping for long enough time will end up damaging speakers. But unless you did something like that, there's little to be worried about.
Pioneer VSX-1018AH-K, PDP-5020FD, DV-79AVi
Axiom M22s, VP150, QS8s
Sony PS3, surround backs