Is there any way to prove 'ED implies UFD' without using the idea of PID?
The proof I know is the one in basic algebra books, the one that uses PID. I admit that the introduction of PID makes the proof easy, but on the other hand, all the PID and ring theory stuff seems to make the original proposition unnecessarily complicated. Is there a simpler and/or direct way to prove 'ED implies UFD'.
How hard this is depends on how you define Euclidean domain. It is simpler if you can assume that the Euclidean function satisfies $f(a) \le f(ab)$. Otherwise, you may have to use $g(a) = \min_{x\ne0} f(ax)$. This will give you existence of factorization into irreducibles. Uniqueness is another matter. See the details in Remarks about Euclidean Domains by Keith Conrad.
For a deeper look, see Factorization in Integral Domains by Pete L. Clark.
Unfortunately, these fine expositions do not contain the direct proof $ED \implies UFD$ that you're looking for.