Version control systems, such as Git and SVN, have become essential tools for managing and synchronizing software projects. However, commit messages, which provide important information about code changes, are often neglected or poorly written by developers. Previous research on commit message generation has profited from the context of the code tokens or code structures such as AST. The corresponding edit sequences of code change, which may be important for capturing the code change intent, have not been explicitly introduced. In this study, we propose a new commit message generation method called ESGen, which extracts AST edit sequences of code changes as model input. Specifically, we employ the Myers algorithm to extract the edit sequence from AST by comparing the ASTs before and after applying the code changes. Then, we construct a Bi-Encoder, which encodes the textual information and the edit sequence information of code change. The experimental results show that ESGen outperforms other baseline models, improving the BLEU-4 to 15.14. Also, when applying the edit sequence to the baseline models, they improve the BLEU-4 scores by an average of 6%. Additionally, a human study confirmed the effectiveness of ESGen in generating higher-quality commit messages. The evaluation results show that the edit sequence can effectively improve the model effect of commit message generation.