Serverless computing has emerged as a new cloud computing model which in contrast to IoT offers unlimited and scalable access to resources. This paradigm improves resource utilization, cost, scalability and resource management specifically in terms of irregular incoming traffic. While cloud computing has been known as a reliable computing and storage solution to host IoT applications, it is not suitable for bandwidth limited, real time and secure applications. Therefore, shifting the resources of the cloud-edge continuum towards the edge can mitigate these limitations. In serverless architecture, applications implemented as Function as a Service (FaaS), include a set of chained event-driven microservices which have to be assigned to available instances. IoT microservices orchestration is still a challenging issue in serverless computing architecture due to IoT dynamic, heterogeneous and large-scale environment with limited resources. The integration of FaaS and distributed Deep Reinforcement Learning (DRL) can transform serverless computing by improving microservice execution effectiveness and optimizing real-time application orchestration. This combination improves scalability and adaptability across the edge-cloud continuum. In this paper, we present a novel Deep Reinforcement Learning (DRL) based microservice orchestration approach for the serverless edge-cloud continuum to minimize resource utilization and delay. This approach, unlike existing methods, is distributed and requires a minimum subset of realistic data in each interval to find optimal compositions in the proposed edge serverless architecture and is thus suitable for IoT environment. Experiments conducted using a number of real-world scenarios demonstrate improvement of the number of successfully composed applications by 18%, respectively, compared to state-of-the art methods including Load Balance, Shortest Path algorithms.