If you weren't taken to court (and you didn't have to pay a fine under a fixed penalty scheme), you have not been convicted of a crime. So you can answer 'No' to any question referring to 'convictions' or a 'criminal record'.
Your only problems might come if you apply for employment working with, or alongside, children or vulnerable adults. Under such circumstances, an employer can insist upon a check with the Criminal Records Bureau. A 'standard' check would show any formal police caution. An 'enhanced' check might show your brush with the law, even if you weren't formally cautioned.
However, most employers can't make CRB checks and, as stated, you haven't got a criminal record anyway.
Chris