Answer these questions to find out:
Were you expecting a call from this number? If not, it was a cold-call so yes.
Did they ask for any personal information like name, SS number or anything like that that they have no reason to need? If so, again, I would say scam.
Was there anything else said? If it was just dead air for those 5 to 10 minutes, it was a robo-dialer and I would say scam.