Contrary to what many people think, the battery and charging system of a car, truck, or 24V system of a semi can be one of the nastiest environments for powering a circuit. It's like trying to power a circuit from a lighting bolt!
There a vehicle electrical system, there are things like "load dump" and co-inductance spikes, in addition to the typical inductive kick-back from relays, ignition coils, and electrical accessory motors. And, of course, there are the issues of jumping a dead battery, which for a 12 Volt car may entail being jumped from the 24 Volt system in the tow truck. Voltage spikes may be positive or negative, and can easily reach 40 Volts or more even in a properly operating vehicle.
For your circuit, try a 10 to 20 Ohm series power resistor into a power zener to protect your circuit. Additionally, you could use a Raychem PTC device in series with the resistor as well. A series fuse is always a good idea.
Since you only need 24ma, you could use a small regulator set for 12 Volts which has a maximum voltage rating of 32 Volts. Protect the input of the regulator with the zener or a automotive rated MOV. The regulator will operate out-of-regulation with insufficient Vin-to-Vout, but will protect you circuit when the voltage is high due to a jump-start.