Can you receive a summons for criminal court in the mail?

I was detained for stealing prenatal vitamins (under $30) at Walmart. It's been 3 days. No police were called, I was not given a citation, and did NOT sign anything, No pictures either. They even said I could return to the store. I just had to give them ID. They did said to expect the civil demand. I am absolutely petrified of getting a summons in the mail for criminal charges. I cannot sleep. I am so full of anxiety. Please help. Thank you.