Admittedly, he did get skewered by Euron Greyjoy, but he wasn’t so badly injured that he couldn’t skewer Euron right back, and it was enough to kill the Iron Islander.
So, no, Jaime did not channel his inner starfish and regrow a lost limb in his final episode of Game of Thrones.
Jaime made his way through the enemy forces and dragonfire to reach Cersei, and he might have escaped with her if not for a blocked tunnel.
He did manage to accomplish quite a lot considering his lack of two functioning hands, though.