While driving I heard a scratching/scraping noise and there was something caught under my car, did I run over something?

I just need to know if I ran over something or if this is an important part of my car.

I was driving and everything was fine, then all of a sudden I heard a scratching/scraping noise. Immediately pull over and see this dangling underneath. I pulled into advance and the guy pulled it out for me. He didn’t think it was a part of my car. It’s on the rear driver side near the tire. After he pulled it out there was no more noise and it’s still driving normally.