I was in the same situation a couple of years ago. I was touring southern Utah and northern Arizona, when the wind picked up and grit was everywhere. Some of that grit got into my 17-40 lens and 7D body. It was so bad that I could feel grittiness when pressing some buttons or turning the zoom ring. When I returned home, I sent all my gear to Canon for a cleaning.
If I was you, I would certainly do a wipe-down with a damp microfiber cloth. Be mindful of the performance of your camera and pay attention to any "grinding" you can hear when you press a button or turn a ring. If you can hear grinding, you should consider a full professional cleaning.