Phase unwrapping is an essential procedure for fringe projection profilometry (FPP). To improve measurement efficiency and reduce phase unwrapping errors (PUEs) in dynamic measurement, a phase unwrapping algorithm based on phase edge tracking is proposed, which unwraps the current wrapped phase map with the aid of the previously unwrapped one. The phase edges are accurately tracked and their trajectories are used to divide the phase map into several regions, each of which is unwrapped either temporally or spatially according to its properties. It doesn't require extra patterns for phase unwrapping once the initial unwrapped phase map is obtained, thus significantly increasing the frame rate of the 3D result. Meanwhile, it greatly reduces the PUEs caused by noise amplification and motion-induced misalignment of phase edges. Experiments prove that it is capable of retrieving the absolute phase maps of complex dynamic scenes with high unwrapping accuracy and efficiency.