I wear a helmet when I'm putting my trousers on - always; because you never know. 4 or 5 people die every years in the UK from slipping and banging their nut when donning breeks, so that's a sensibile precaution.
I've never had a head injury from a road accident, but have suffered the following:
At 12 years old a brick carelessly thrown high by another kid crashed down onto the top edge of my forehead at the hairline. I still bear the slight groove in the skull that resulted. No emergency treatment of course, that was the 1940s, just let it heal.
In the 1970s when standing on a high floor truck platform looking at a problem with the load content, a labourer was struggling to free a trapped steel pallet foot with a crowbar. The pallet suddenly freed and skated across the platform, shoving me backward off the truck onto the concrete surface below. The impact of the fall onto the back of my skull knocked me out and when I came round I had no eyesight for a few minutes, due to bruising of the brain's optical centre at the rear. No medical attention was necessary so I phoned and cancelled the ambulance that had been called.
In the 1980s after working for a long time in a crouched confined position, I straightened up forgetting that there was a projecting steel rack corner above me. That split the crown of my head open with copious blood and a resultant large blood clot matted in the hair which I just left in place for healing.
So what does this show? Two things. Firstly how tough we humans are due to the protection that evolution has given us for accidents at our normal speeds of movement. Secondly that there's a far greater range of head injury possibility outside of road use than within it, but we don't even attempt to protect for those much greater risk possibilities.
These put cycle helmet wearing into perspective for the following reasons. Cycling is very minor source of accident possibilities covering a very small proportion of the risks, in my case none of the risks. And a high proportion of cycling accidents are within the range of normal human speeds. Since most humans can run at up to approximately 18 mph, evolution has equipped our bodies to deal with that quite well, both in damage resistance and healing ability.
What is so good about this is that it is a self-adjusting mechanism, as we get older, more vulnerable and with slower reactions, we cannot run or move as fast and are usually less inclined to do so anyway. Conversely, the young with higher speed abilities and inclinations have the fitness and lightning reactions to suit.