Ran very low on oil did I do damage?

Just checked the oil in my 2002 Ford Expedition and there was none on the dip stick turns out I was 5 quarts low but the engine sounded fine and the oil pressure was normal and it sounds fine still do you think I will have any problems down the road with the truck now?

Hard to say if any real damage was done

You're Ford Expedition has an oil capacity of 6 quarts. If you were 5 quarts low the oil pressure light should have come on. Turn on the ignition without starting the engine and see if the light works. Did you do any damage? Depends on how many miles your drove it this low of oil. In my opinion there must have been damage driving around with only 1 quart of oil in the crankcase. It may sound perfectly fine but there was wear damage.

As long as you had oil pressure you are fine. The oil might have got rather hot, so it might be wise to do a change sooner rather than later, though 5 quarts of new oil would probably be enough protection till next scheduled change

Your check oil light should have come on on the dash board. You did not mention that so I'm assuming it did not come on. You also say the truck ran fine. Based on that I would say it was not low on oil but rather you read the dip stick wrong. How do you know it was five quarts low?

As other post said, check all your warning lights are working. It is odd you did not have a warning light come on. Are you 100% sure you have not over filled the oil?
I'm guessing if you were doing local driving, then oil was circulating and not getting overheated, then maybe just some additional wear. But really there's no way to know how much additional wear was caused.
Why so low, is it burning or leaking oil?

The first thing you need to do in say a few days is get an oil and filter change. I know you just put fresh oil in it, but that 1-2 quarts of old oil has to be totally thinned out and dirty so all the oil is contaminated. Just my opinion and since you ran it low, keep up with oil changes going forward.

When was the oil last checked before discovering it was low? How many miles have you done since then?
Running that low will not have done the engine any good.

As long as your oil light works and was not coming on (or even only a flash now and then) you had enough oil to prevent catastrophe, but during that time the cylinder walls will wear, putting years on your car. It was running hot and with minimal lubrication. It should be fine okay, but if it began to burn oil or misbehave in other ways I would not be surprised.
So now you should have all new oil and filter, right? You have to make some penance or the automotive gods will come down on you.

Caught it in time. Keep your eye on it from here on.

You're lucky the motor isn't seized up. 5 quarts low is not only not enough in the motor to keep the oil pump from cavitating, the little oil that was remaining had to be dirty and black which means the oil wasn't lubricating enough too. Most people that end up with little or no oil in their motor don't change the oil every 3,000 miles so there's a very good chance your bearings were not in the best condition already from past neglect.

Roll the dice. If it breaks, it is broken.