To clarify, has nukes dropped as nuclear weapon testing ever accidently been dropped too close to someone and harmed them through the shockwave, heat or further complication with the nuclear fallout?
The 1954 Castle Bravo test exposed a large number of people to nuclear fallout. One of them, a Japanese crew-member on fishing boat, later died.
The first Soviet multi-stage H-bomb test in 1955 reflected off on inversion layer in the atmosphere and extended its blast range beyond what was expected. This caused a building to collapse in a nearby village, killing a child, and by some accounts also caused a trench to collapse, killing a soldier.
The number of people who likely acquired fatal cancers from nuclear fallout is probably quite large, but it is difficult to attribute such cancers to a specific source. Depending on your methodology it ranges from the tens of thousands of people to the hundreds of thousands.
For more details on especially the latter, see here.