Because of voltage difference between input and output (24V-3V=21V), linear regulators may generate to much heat, although, if you are not concerned about it use LM317 with a heatsink and you are done ..
However, switching regulators may be better option, and there are planty of them on the market ..
For example: LM2594N-ADJ, LM2671M-ADJ ( **broken link removed** ) ..
Also, try MAXIM-IC web site at: **broken link removed**