The topological sensitivity analysis, based on the asymptotic behaviour of a cost functional associated with the creation of a small trial flaw in a defect-free solid, provides a computationally-fast, non-iterative approach for identifying flaws embedded in solids. This concept is here considered for crack identification using time-dependent measurements on the external boundary. The topological derivative of a cost function under the nucleation of a crack of infinitesimal size is established, in the framework of time-domain elasticity or acoustics. The simplicity and efficiency of the proposed formulation is enhanced by the recourse to an adjoint solution. Numerical results obtained on a 3-D elastodynamic example using the conventional FEM demonstrate the usefulness of the topological derivative as a crack indicator function.