Upvote:5
According to US Customs and Border Protection Agency no. All you will need is to fill out an I-94W form at the land border crossing:
If you are a citizen of a country that participates in the Visa Waiver Program (VWP), and you enter the U.S. by land from Mexico or Canada, you are only required to complete the paper I-94W form at the land border crossing. ESTA is currently required for air and cruise ship travel only.
ESTA is only necessary when arriving by air or sea.