Condoms are highly effective- when they work.
Unfortunately a broken condom certainly does expose you to some risk.
Now if the prostitute is uninfected, the risk of HIV is 0, of course.
If she is infected, we generally quote a risk of about 5 in 10 000 per sexual contact ( insertive penile/vaginal). Now that is on average- some contacts are higher risk- if she has a high amount of HIV in her system, or if she has other STDs like herpes at the same time.
But overall, a one time exposure statistically is somewhat low.
Having said that, I would of course recommend that you be tested for HIV in 4-6 weeks, 3 months and 6 months ( as well as at baseline). You also should be tested for other STDs like gonorrhea, chlamydia, and syphilis- these are easily treated if properly diagnosed.
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