Probably not. The warranty does not cover damages caused by accident. Apple has sometimes for goodwill replaced a cracked screen iPod for free for people who went to the store (and more often they have not made the free replacement). Call them and see what they say. You have nothing to lose. But don't get your hopes up.
Note that if you bought your iPod by credit card less than 90 days ago you might be covered by a Purchase Protection Plan. Call your credit card company to check.