Generally, my answer to licensing questions is that you cannot get authoritative answers here as this is a technical forum, and yours is a legal question. For an authoritative answer, you need to contact your local Microsoft representative.
Nevertheless, this is one that I feel confident enough to answer, and I agree with Chris. As long as these environments are only used for developers for testing new features, performance etc, Developer Edition is OK.
Watch out for grey areas, though. At my client, we too restore a copy of production to two test instances daily for troubleshooting. But these environments are also used by business users for testing out reconfigurations they want to do, before they apply them in prod. In my opinion, that is production use, and thus not OK to do Developer Edition (Thankfully, my client has Standard Edition, the same as production, on these instances.)