In mobile edge computing systems, the energy consumption and execution delay can be reduced dramatically by mobile edge computation offloading (MECO) . However, due to the limited computing capacity of edge cloud, an energy-efficient offloading strategy plays a significant role. In this paper, the offloading decision problem for multi-device edge computing systems based on time-division multiple access is studied. The scheduling of offloading devices at the edge cloud is considered when modelling the edge computing system. Then, the offloading decision problem is formulated as an energy consumption minimization problem with the constraint of latency tolerance. It is a mixed integer programming problem of NP-hardness. To address the problem, a Dynamic Programming-based Energy Saving Offloading (DPESO) algorithm is designed to obtain the offloading strategy including the offloading option, offloading sequence and transmission power. First, the MECO with infinite edge cloud capacity is solved by device classification and transmission power decision. Then, we sort and adjust the offloading devices to meet the latency tolerance for the MECO with finite edge cloud capacity. Finally, simulation results demonstrate that the DPESO algorithm achieves better energy efficiency than the baseline strategies and has good scalability.