Yes, its safety when used as a food additive has been approved by the U.S. Food and Drug Administration (FDA), European Food Safety Authority (EFSA),  Joint FAO/WHO Expert Committee on Food Additives (JECFA), as well as other authorities.

FDA
Calcium disodium EDTA may be safely used in following food categories for promoting color, flavor, texture retention or other functions with maximum levels ranging from 25 to 800 mg/kg (4):

Pickled cabbage and cucumbers
Canned carbonated soft drinks, fermented malt beverages
Canned white potatoes
Cooked canned of
Clams
Crabmeat
Dried lima beans
Legumes
Pink beans
Red beans
Mushrooms
Shrimp
French dressing, salad dressing, spreads, sauces
Mayonnaise, oleomargarine, pecan pie filling, potato salad
Processed dry pinto beans
Sandwich spread, artificially Colored and lemon-flavored or orange-flavored
Hard-cooked egg product
EFSA
Calcium disodium EDTA (E385) is listed in Commission Regulation (EU) No 231/2012 as an authorised food additive and categorized as “additives other than colours and sweeteners” (5)

http://www.chinafooding.com/EDTA