Regular crystal has repeatable structure in space, i.e. its lattice is the same shape over and over again across in space.
Time crystal is the kind of material that has repeatable structure across time, at the lowest energy state. It just means it changes its shape periodically over time.
An example of that is quartz crystal vibration where its structure bends and unbends over time. Quartz bending and unbending (vibration) is due to the piezoelectric effect when an external electric force is applied. The external force requirement disqualifies it as a time crystal.
The "at the lowest energy state" requirement means time crystal can "vibrate" by itself without external force applied. "Vibrate" is used loosely here. It could be the nuclear-spin flipped periodically, or some other structural changes that need no outside influence.