"This rule applies to us all."

Translation: Ta zasada dotyczy nas wszystkich.

[Grodmannen]

What about "Ta zasada nas wszystkich dotyczy"? No good?

[Jellei]

Hmmm... I don't love it, but I guess it can work. Added.

[BieniekAlexander]

Is there any construction for "all of us"? Something like "...dotyczy wszystkie z nami?"

[Jellei]

"dotyczy wszystkich z nas".

"dotyczy" + Genitive, and then "z" here means 'out of', 'from' (which needs Genitive), not "with" (which takes Instrumental, which you used).