We hardly ever did tummy time with DS, He Hated it too. The only tummy time he had as a newborn, was laying on my chest....Then he got a bit when he was 3 months old....But not much, because he still hated it then...And he has developed anyway with no probs! He was holding his own head up extremely early tho. I remember having him lay on my chest in hospital, and he lifted his head up quite a few times...
If you are concerned...Maybe you could just have him lay on your chest/belly, whilst you are laying down, for a few minutes at a time.