Edmonds hit second in the batting order, drawing a walk and grounding out in a 6-5 loss to Baltimore. He was replaced in the top of the fourth inning by Skip Schumaker.
An eight-time Gold Glove winner, Edmonds has spent the spring recovering from offseason shoulder and toe surgeries.
"It was an easy day," Edmonds said. "Didn't have to run too much, didn't take too many bad swings."
The Cardinals hope Edmonds will be ready for the April 1 opener at home against the New York Mets.
"We don't know what to expect," St. Louis manager Tony La Russa said. "You work out and you're under control. He may make one break today and his toe would be sore and that's the end of it. Who knows?"
Cardinals starter Anthony Reyes had his worst performance of the spring, allowing five runs on eight hits in three innings. Reyes had previously given up one run in 16 innings.
Baltimore starter Jaret Wright walked five, hit one batter and gave up four runs in four innings. His ERA this spring swelled to 5.79.
"I thought Jaret was a little erratic today," Orioles manager Sam Perlozzo said. "We're just mainly concerned that he's healthy and feels good."
La Russa also released the order of the Cardinals starting rotation. As expected, Chris Carpenter will be the opening day starter, and Kip Wells and Braden Looper will follow against the Mets. After Carpenter opens the series at Houston on April 6, Adam Wainwright and Anthony Reyes will take the mound.
The success of the Cardinals starters this spring has been a bonus for La Russa, who said he had considered downsizing the number of players in the team's rotation to four.
"Because of how well these guys have gone about everything we'll be pitching five guys," La Russa said.