I'm struggling with this same issue with my 5 month old twins. Ultimately it's way way worse for naps than for bed time. For some reason they are able to just go to sleep on their own (or with a little fuss) at bed time b/c they are more tired.
We do use a pretty ritualistic routine...lights low at 6, baths at 6:15 (warm, at like 101 degree water), very quiet music, no playing/loud interaction/toys, then dressing the low lit nursery with the sound machine on, 6:30 last breast feed of the night in low lights (no TV on or anything else), burping, 6:50 we swaddle them tight while speaking very softy to them to calm them, say prayers for them, binkies, kisses, and in the crib the go with the lights totally off (room very dark). Usually they let out a few fusses here and there in the first 10 minutes or so, we go in gently pat the stomach, kiss them, shush them and then leave again...no picking them up.
If you've taught your boy to go to sleep nursing/rocking, that's fine, but if you want to change it, it will take a few nights to undo the habit and teach another way. Just try to get him super sleepy with some of the things that work for him and keep the feed close to bedtime. If you have to burp him after feeds, keep it dark in the room. Be patient, b/c he just has to learn a new way to go to sleep. You might need to pick him up if he can't get quieted down in the crib. But try to not resort back to rock/nurse if that's what you want to change.
You don't have to let him cry hysterically. I think that can traumatize them and make the crib an even less pleasant place for babies to sleep. Just show him how and comfort as much as you can in the crib if that's where you want him to sleep. Co-sleeping works for some people, too, but totally not for me and my girls...
Good luck.