my penis has a curve and twist that has bothered me a bit. I've heard a couple comments but no complaints. From what I've read online it's either genetic or caused by damage to it (I did hit hit by a slapshot to the balls once...who knows), so I'm not sure if it can be stretched back or anything, but I'm trying.
If it hurts, doesn't work properly and/or makes sex difficult then I say look into something, but I wouldn't get too anxious over the pursuit of perfection. Bends and twists are pretty common from what I've heard and read.