Time Pressure; Workload; Situational Awareness; Fatigue; Communication Breakdown
Deviation - Altitude Crossing Restriction Not Met; Deviation / Discrepancy - Procedural Published Material / Policy; Deviation / Discrepancy - Procedural Clearance
Air Traffic Control Issued Advisory / Alert; Flight Crew Became Reoriented
Human Factors
We were planning on and had briefed the ILS Runway 6; Circle to Land Runway 1 approach as indicated by the last ATIS we had received. We briefed the requirement to cross DANDY at 1;500 feet per the approach procedure. When we contacted New York Approach; we were told there was a new ATIS and that the only change was the landing runway was now Runway 6; and that we could plan on a straight-in ILS approach to Runway 6. We re-briefed the new approach landing minimums and missed approach procedure; but failed to re-brief the altitude restriction at DANDY. Approach descended us to 2;000 feet and told us to 'maintain 2;000 feet until established;' and cleared us for the ILS Runway 6 approach and then switched us to Teterboro Tower. There was a slight bit of confusion in the cockpit about how to arm the approach mode on the flight director; but that was quickly remedied and the approach was armed from 2;000 feet MSL. We captured the glideslope as normal; and began our approach. We crossed DANDY somewhere around 1;850 feet MSL; rather than the required 1;500 feet and as we did so; Teterboro Tower asked us to 'begin (our) descent.' I explained that we were descending on glideslope; and as I said it; I immediately realized that we had failed to comply with the DANDY altitude restriction.After landing; Tower explained that approach had a Newark departure off to our right; and was concerned about a potential conflict; but then went on to say that all was well. At no time did I observe or did TCAS call out any traffic in our immediate vicinity. As a crew; we need to make sure that any time something in our briefed plan of action is changed; we stop and take the time to carefully and thoroughly re-brief the new plan in its entirety. That was a breakdown in CRM and communication on our part; and the lesson has definitely been learned and de-briefed thoroughly.  It would also be helpful if ATC was able to descend us to 1;500 feet prior to issuing the approach clearance; or at least change the verbiage to 'Maintain 2;000 feet until established; cleared for the ILS Runway 6; except cross DANDY at 1;500 feet.'
Pilot reported crossing DANDY 400 feet above the required altitude after briefing a last minute runway change during approach to TEB airport.