Looks like there are a few mistakes in the code you posted. There are a few simple errors like spelling and a missing $ inside the event handler. Also the way you're getting the value of the dropdown can be simplified. Here's an example.
<html>
<head>
<meta http-equiv="content-type" content="text/html" />
<script type="text/javascript" src="http://ajax.googleapis.com/ajax/libs/jquery/1.10.0/jquery.min.js"></script>
<script>
$(function(){
$('#testselect').change(function() {
var selid = $(this).val();
if (selid == "Yes"){
$("<div><span>test option</span></div>").insertAfter($("#inner"));
}
});
});
</script>
<title>Untitled 2</title>
</head>
<body>
<div id="outer">
<div id="inner">
<select id="testselect" name="testselect">
<option value="" selected="selected"></option>
<option value="Yes">Yes</option>
<option value="No">No</option>
</select>
</div>
</div>
</body>
</html>