The DKIM signature issue was resolved as follow:
There were missing lines from the /etc/postfix/main.cf :
#DKIM
milter_default_action = accept
milter_protocol = 6
smtpd_milters = inet:localhost:8891
non_smtpd_milters = inet:localhost:8891
and the correct /etc/opendkim.conf was :
AutoRestart Yes
AutoRestartRate 10/1h
LogWhy Yes
Syslog Yes
SyslogSuccess Yes
Mode sv
Canonicalization relaxed/simple
ExternalIgnoreList refile:/etc/opendkim/TrustedHosts
InternalHosts refile:/etc/opendkim/TrustedHosts
KeyTable refile:/etc/opendkim/KeyTable
SigningTable refile:/etc/opendkim/SigningTable
SignatureAlgorithm rsa-sha256
Socket inet:8891@localhost
PidFile /var/run/opendkim/opendkim.pid
UMask 022
UserID opendkim:opendkim
TemporaryDirectory /var/tmp
After completed /etc/postfix/main.cf and restarted services, the DKIM signature was properly inserted to the outgoing emails.