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Nope... a USB adaptor that connects an old hard drive to another machine is not going to harm the machine.
Exceptions: You have virus / malware and are going to execute stuff or had autoplay enabled (this doesn't sound like your issue) or you're using a USB-C adaptor and the power controller is f*cked and we're in the future (this does not apply to you today, it's hypothetical).
Erm.
Spinney drive or SSD?
If spinney then probably not... the platters may be smashed, the reading head alignment out... any number of things.
If SSD... really depends whether it got a direct hit or just a bit of a jolt and how much damage internally.
I'd say in either case that if the files are worth trying to rescue that it justifies the cost of a USB adapter to plug the drive into another machine and see if it's even readable.