To the exception of woodlice, Crustaceans live in aquatic (marine or freshwater) environments. Crustaceans are arthropods which is an immensely diverse taxon. Many arthropods live in terrestrial environments and many live in aquatic environments.
Pisani et al (2004) report evidence of fossil of terrestrial arthropods as old as ~450 million years ago. According to Wikipedia > Arthropoda citing Lin et al. (2007) (the paper is behind a paywall, I could not read it myself) report evidence of fossil of arthropods as old as ~550 million years ago.
Were there any terrestrial species in the ancestry of all crustaceans?