Unfortunately, this is a bug and as a workaround you can simply exclude the Sitecore.Shell.Applications.ContentManager.ReturnFieldEditorValues.RegexValidate
processor from the uiReturnFieldEditorValues
pipeline by commenting out the following line in your Sitecore.config
file:
<processor mode="on" type="Sitecore.Shell.Applications.ContentManager.ReturnFieldEditorValues.RegexValidate" />
This will disable the field validation on the "OK" button click within the Edit form and prevent the Error message pop-up appearing every time in the Experience Editor & blocking you from the field editing. But the field validation will remain triggered by the "Save" button click and the "Error message" pop-up will appear if any field does not match your regular expression.