Even if there was absolutely no damage to your car (so that there was nothing to pay), you've still made a claim against your insurance. That's clear from your statement that the car you scratched is going to be taken care of by your insurance company.
Englandfan seems to be advising you to break the law. Insurance firms never just ask 'Have you made a claim against insurance provided by this company?'. They always ask about all motor insurance claims for the past few years. Failure to declare such a claim is an imprisonable offence under the Theft Act. Any insurance obtained by such a statement would be invalid. If you were subsequently involved in an accident which resulted in someone receiving serious injuries, it would be you, and not the insurance company, who would be responsible for paying their compensation claim (which could be over a million pounds).
Chris