After sex it hurts, does it hurt all the time? Its time you consult a doctor, preferably a urologist. If sex was a painful act, most men wont have sex right now. Intercourse is a pleasure fr both, not a pain for one.
The pain without condom means your foreskin is tight. You can get doctors suggestion on how to loosen it. If that doesn't work, then circumcising is a better option. Sometimes a full circumcising is not require, a small operation can take care of the problem.
We are not doctors, so we should wait for your update after you visit a doctor.