Upvote:4
You can certainly try applying for an ESTA, making sure to answer all of the questions truthfully.
If your ESTA is approved, then you are free to travel to the US. If your ESTA is refused then you will need to apply for a visa.
As is always the case, having an approved ESTA (or even Visa) is not a guarantee that you will be allowed enter the country, but almost certainly you will have no problems presuming you answered the questions in the ESTA application truthfully.