1. Yes .... it is true that Minor's property CANNOT be sold, by parents /anybody, without proper order of the local Civil Court.
2. However, in the case instant, the claim is now time barred for the minor (now major boy) to file any claims on you or to get the sale deed rescinded /revoked. However the Boy can file claim against his parents, for recovery of the consideration amount received due to sale of his property, BUT definitely not against you.
3. If you apprehend some legal proceedings and you do not wish to fall into litigation's etc.... You can amicably settle with the major boy, by executing a Settlement Deed and taking an Indemnity Bond from the Boy. (This does not seem necessary, since the Court would not grant any relief to the now major Boy).