The first thing to understand is that not all stray dogs have rabies infection.
Now, let's come to your question: If your dog is vaccinated properly after the incident, then there is no need to worry.
Next Steps
If you want 100% clarity in this issue, then you can do testing for your dog. You can go for rabies antibody detection test. It will tell you if your dog has immunity against the virus. If the titer value is good, then it indicates he is protected.