We propose a mechanism of spin-triplet superconductivity at the edge of $d$-wave superconductors. Recent theoretical research in $d$-wave superconductors predicted that strong ferromagnetic (FM) fluctuations are induced by large density of states due to edge Andreev bound states (ABS). Here, we construct the linearized gap equation for the edge-induced superconductivity, and perform a numerical study based on a large cluster Hubbard model with bulk $d$-wave superconducting (SC) gap. We find that ABS-induced strong FM fluctuations mediate the $d pm ip$-wave SC state, in which the time-reversal symmetry is broken. The edge-induced $p$-wave transition temperature $T_{cp}$ is slightly lower than the bulk $d$-wave one $T_{cd}$, and the Majorana bound state may be created at the endpoint of the edge.