This sore does not have the characteristic appearance of a chancre, but since it has only been present for a single day, it is possible that it could progress. A syphilitic chancre usually looks much worse, although it will usually remain painless.
Other infections can cause sores that look more like this appearance, such as molluscum contagiosum. Herpes also can cause ulcerated lesions on the penis, although this also does not look herpetic.
So, the most likely infection from this appearance would be molluscum contagiosum, which is a viral infection that can be transmitted in various methods of contact, but also including sexual contact.
If the lesion progresses and gets worse, then there should be more consideration of whether it could be syphilis or herpes. If it is molluscum contagiosum, then additional lesions may appear, but they will look similar to this sore.
If I can provide any additional information, please let me know.