Do I need to file an amendment if I received 1099-R Code G with taxable amount of $0 after filing? Retirement account was rolled over, but no funds were received.

If the entire distribution was directly rolled over into a similar account so that there were no tax consequences (for example, you did not roll a 401 k plan into a Roth IRA, which would be taxable), then filing an amended return to include the Form 1099-R would not change anything.  

Instead, keep the Form 1099-R with your tax records just in case there is a question from the IRS about why it was not reported with your original return.