First of all who told you this?
Were you or the other driver cited at all?
In most states you get a hefty fine, license suspension and in some states, the vehicle is impounded for being in an accident and not having insurance.
Was the other drvier insured? They may not have to pay out pain and suffering but if the other driver is insured and were at fault, they should still be paying out property damage and medical bills.
You might want to talk to a personal injury attorney.
This could be an expensive lesson for you to not drive without insurance.