In 1965, Vizing proved that every planar graph $G$ with maximum degree $Δ\geq 8$ is edge $Δ$-colorable. It is also proved that every planar graph $G$ with maximum degree $Δ=7$ is edge $Δ$-colorable by Sanders and Zhao, independently by Zhang. In this paper, we extend the above results by showing that every $K_5$-minor free graph with maximum degree $Δ$ at least seven is edge $Δ$-colorable.