Your photo shows that the metal transducer, located beneath the plastic tip, has been broken away from the Apple Pencil. Repair of the Apple Pencil is not possible - and as such, the only remedy is replacement of the Pencil.
If your Pencil is within its one year warranty, it may be worthwhile asking for help at an Apple Store - but be aware that accidental damage is not covered by the limited warranty. However, if your iPad has AppleCare+ cover, then accidental damage of the Pencil may be covered - and a replacement offered for only small fee.
Genius Bar Reservation and Apple Support Options - Apple