Dogs hip is clicking and she’s limping

My little chihuahua jumped down from the bed and when she landed she yelped and started limping (raising her back right leg). This only lasted a little as she was back to her normal self after. However once in awhile she’ll randomly start limping for a few seconds. I was trying to massage her leg one time and I felt that her hip would click and that would make her start limping. It’s been about a week since it’s started. She doesn’t seem to be in pain and the limping doesn’t last very long. Ive been trying to restrict her movement to help her heal but she’s very playful and energetic. Should I get her checked by the vet or is this something that would heal on its own?

Once again, it depends what is happening beneath the surface.  I doubt that you were massaging a chihuahua hard enough that you caused a physical injury, fracture, or even even pulled a muscle or ligament  (if you'd said there was a foot stuck down a rabbit hole, I might imagine it happening), and you said that the change first happened spontaneously while walking, so what else might start like this?  There is a strap-like ligament going over the patella (knee cap) that originates higher up, and can shift sideways, getting caught on the wrong side of the patella.  This can cause a few moments diabolical lameness / kicking before it is freed and the dog can move their leg normally again.  We call this a 'luxating patella' and it tends to recurr.  Your vet can get some idea of whether it is happening from a physical examination.  You also suggested a different possibility, a dislocating hip, which I can only imagine happening if there was an abnormally shallow hip socket (can happen) as it is physically very hard to dislocate a healthy hip and you arent describing that sort of incident. Indeed, I think it would be a good idea to get your little one checked over;  if there is a luxating patella, your vet will 'grade' it;  there are surgical options  available should it prove necessary.