Was this a lucid dream?

So yesterday I went to sleep with lucidity out of my mind, I was distracted by my xbox for most of the night, so I went to sleep, the dream was really hazy and not very vivid at all, so in the dream I was in a bathroom and my teeth were messed up and my front tooth was nearly falling out, it was then I realised to do an RC, and I counted 7 fingers on one hand, I realised I was dreaming and instead of excitement, I felt a sense of worry and then I woke up. Does this non vivid weird dream count as lucidity?

It is clearly a lucid dream! Congrats. If you become aware in a dream and can tell that it is a dream, it counts. They do not have to be long or vivid.

Any dream where you realize it's not realize counts as a LD, no matter what the length of the dream is.

Remember the next time that you can "un-dull" your dreams if you stabilize the dream. But that takes a bit of experience to do, especially the first few times you will be ticked off somehow by realizing that you are dreaming. That can make deliberate actions and thinking a bit hard. Next time you get lucid not only count your fingers but really inspect your hand, your skin. Rub your hands together, even smell it... engage all your senses. That will make the experience much better.
For me the quality of the LD has a lot to do with the time I dream. If I have a LD early in the night, about 3 am, it will most likely be dull, shadowy and not very vivid. If I dream in the morning ~6 am the dreams are much longer and more vivid.