Succulents are usually considered low-water-use plants and are often used in xeriscaping and other low-water landscaping. However, most do require watering periodically, more often in the summer, and usually much less or no supplemental irrigation in the winter.  There are some that, once established, don’t need water just south in Southern California, including some cacti, agave, dasylirion, and yucca. Since the Sacramento area is north of there, you may be able to try these to see if they’ll work with zero watering in your area.