Type sudo update-alternatives --config editor

You will get a text like below.

There are 4 choices for the alternative editor (providing /usr/bin/editor).

  Selection    Path                Priority   Status
------------------------------------------------------------
* 0            /bin/nano            40        auto mode
  1            /bin/ed             -100       manual mode
  2            /bin/nano            40        manual mode
  3            /usr/bin/vim.basic   30        manual mode
  4            /usr/bin/vim.tiny    10        manual mode

Press enter to keep the current choice[*], or type selection number: 3

Find vim.basic or vim.tiny selection number. Type it and press enter. Next time when you open visudo your editor will be vim