I would guess that it is either a sea slug or a young snail. If it is hard on top, then the snail. If not, a sea slug. It could be a nudibranch, but I would have to see the other side to tell. Most nudibranches are patterned and or colorful, but some are drab.
You could do a search on nudibranches and see if something looks like your critter.
HTH,
cyn