Edwards and Timothy Carr appeared in court Monday, WISN-TV, Milwaukee, reported. Both are charged with recklessly endangering safety.
Their alleged victim, Johnny Jordan, 43, drowned in the Milwaukee River on July 26. Edwards and Carr allegedly threw him off a bridge and then walked away.
Nora Jordan, the dead man's sister, was angry the pair did not face more serious charges.
"That was dirty," she said. "You was going to throw somebody over, head first and then they walked away. The criminal complaint says they walked away. That's murder."
In 1991, Dahmer lured Edwards to his apartment, where the young man saw pictures of mutilated bodies and smelled a foul odor coming from a barrel. He struggled as Dahmer tried to handcuff him and escaped with handcuffs dangling from one wrist to the street, where he flagged down a police car.
Dahmer was eventually convicted of 15 murders of boys and young men and died in 1994 after being attacked by another inmate in prison.
Edwards had a long history of drug use and alcoholism after his escape and was in and out of jail, WISN said.