Medium Large Transport; Low Wing; 2 Turbojet Eng
Flight Crew Instrument; Flight Crew Air Transport Pilot (ATP); Flight Crew Multiengine
Situational Awareness
Deviation - Altitude Excursion From Assigned Altitude; Deviation / Discrepancy - Procedural Clearance; Inflight Event / Encounter CFTT / CFIT
Flight Crew Returned To Clearance; Flight Crew Became Reoriented; Flight Crew Took Evasive Action
Human Factors
Coming in to CRW we were assigned direct to STILT; FAF point for the ILS approach to Runway 23 - to 3;000 ft. in VFR conditions. We were cleared for the visual and we turned to a downwind from the FAF and went down to 2;400 ft.; which was the FAF altitude where we received an aural warning for terrain and [a] pull up alert. I disengaged the autopilot and climbed back up 3;000 ft. [and] hand flew the approach to Runway 23 without any other incidents. Being cleared for the visual with the ILS backup; muscle memory had me descend to the FAF altitude temporarily before realizing that CRW has different procedures regarding approaches for 23. Knowing that CRW is a special airport; staying at the higher altitude last received till established on the approach was all that was needed even though the visual was given.
Air carrier First Officer reported receiving a GPWS terrain alert on a visual approach to destination airport.