CE650 Captain reports not noticing the 1;500 FT WENTZ crossing restriction on the RUUDY 3 departure from TEB. ATC does notice the deviation though and instructs a descent.

Narrative

Prior to departure from TEB; the First Officer and I reviewed the RUUDY THREE DEPARTURE. We missed the 1;500 at WENTZ and were climbing to 2;000 FT when we were instructed by the controller to return to 1;500 FT. We complied ASAP. We reached about 1;900 FT before starting back down to 1;500 MSL. Had we spent more time reviewing the departure including the textual route description; we would have caught the 1;500 at WENTZ. The departure from TEB has often been task saturation for me and my crew. I will spend more time on the crew brief in the future. In my opinion; an extra verbal message from ATC to stop at 1;500 FT could also be helpful. We received no TA or RA warning or resolution on this departure. Now that the First Officer and I have had time to review the IFR clearance that was given just before engine start; we discovered that the initial altitude in the clearance was 'climb and maintain 2;000; expect FL380 ten minutes after.....' Perhaps a rewording in this clearance would be helpful? How about a sentence on ATIS that reminds pilots assigned the RUUDY THREE to note 1;500 FT initial altitude?