The device, which was left on the vehicle just off Main Street, led to a security alert in the village on Saturday afternoon.
It has been taken away for forensic examination.
Nearby shops and 15 homes were evacuated while police and Army officers dealt with the incident.
Sinn FÃ©in's Declan Kearney said it had caused disruption and damage to trade.
The South Antrim MLA criticised those responsible for leaving the bomb, saying their actions were "indefensible".
"Saturday is one of the busiest days in Crumlin," he said.
"Many businesses and shoppers were affected as a result of the disruption caused.
"Those responsible must be condemned in the strongest possible terms.
"There is no room for these type of attacks in our society and they must end immediately."

The 30-year-old had to be helped off the field after an accident during a training session for the second Test against India in Bangalore.
Scans revealed a ligament tear in his left ankle, with Philander due to be out for "at least six to eight weeks".
England's Test series against South Africa starts in Durban on Boxing Day.
"Vernon stepped on Dean Elgar's foot by accident in our warm-up," said Proteas batsman AB de Villiers. "It was a very freakish accident, to be honest. He is very unlucky."
South Africa have called up paceman Kyle Abbott to replace Philander, who has taken 126 wickets in 32 Tests, for the rest of the four-match series, with the visitors currently trailing 1-0.
Philander's injury could mean he misses the first two Tests of England's four-game series in South Africa - the second Test in Cape Town on 2 January quickly following the first.
"The first Test match against England is six weeks away so it will be a tight schedule to get him ready and rehabilitated to make that Test match," said South Africa team manager Dr Mohammed Moosajee.
"Once he has been assessed back home in Cape Town and a proper programme for physio and rehabilitation has been put into place we will have a clearer understanding."

The incident happened at a soup kitchen in Montreuil, east of Paris.
The man said he was able to dodge the axe but was stabbed in the stomach, according to a prosecutors statement.
His condition is not said to be serious. France remains under a state of emergency since last November's attacks claimed by Islamist militants.
The victim told investigators the assailants shouted "Allahu Akbar", meaning "God is greatest", and called him an "infidel dog" before running away.
He is director at Restos du Coeur, a charity which gives food packages and hot meals to the needy.
According to Reuters, the investigation is being carried out by criminal police rather than anti-terrorism units.
Since the attacks by so-called Islamic State last year, France has been on high alert.
In June, a policeman and his partner were stabbed to death outside of Paris by a man who claimed allegiance to the Islamic State.
A viable pipe bomb which was left on top of a car in the County Antrim village of Crumin has been made safe by the Army.
[NEXT_CONCEPT]
South Africa bowler Vernon Philander could miss the start of next month's Test series with England after injuring his ankle in a warm-up football game.
[NEXT_CONCEPT]
Police are investigating after a French charity worker said he was attacked with a knife and an axe by a couple who shouted "Allahu Akbar".