Retrieving all PK and FK

You can use the function pg_get_constraintdef(constraint_oid) in a query like the following:

SELECT conrelid::regclass AS table_from
     , conname
     , pg_get_constraintdef(oid)
FROM   pg_constraint
WHERE  contype IN ('f', 'p ')
AND    connamespace = 'public'::regnamespace  -- your schema here
ORDER  BY conrelid::regclass::text, contype DESC;

Result:

 table_from | conname    | pg_get_constraintdef
------------+------------+----------------------
 tbl        | tbl_pkey   | PRIMARY KEY (tbl_id)
 tbl        | tbl_col_fk | FOREIGN KEY (col) REFERENCES tbl2(col) ON UPDATE CASCADE
...

Returns all primary and foreign keys for all tables in the given schema, ordered by tablename, PKs first.

The manual about pg_constraint.

The manual about object identifier types (regclass,regnamespace, ...).

Based on Erwin solution:

SELECT conrelid::regclass AS "FK_Table"
      ,CASE WHEN pg_get_constraintdef(c.oid) LIKE 'FOREIGN KEY %' THEN substring(pg_get_constraintdef(c.oid), 14, position(')' in pg_get_constraintdef(c.oid))-14) END AS "FK_Column"
      ,CASE WHEN pg_get_constraintdef(c.oid) LIKE 'FOREIGN KEY %' THEN substring(pg_get_constraintdef(c.oid), position(' REFERENCES ' in pg_get_constraintdef(c.oid))+12, position('(' in substring(pg_get_constraintdef(c.oid), 14))-position(' REFERENCES ' in pg_get_constraintdef(c.oid))+1) END AS "PK_Table"
      ,CASE WHEN pg_get_constraintdef(c.oid) LIKE 'FOREIGN KEY %' THEN substring(pg_get_constraintdef(c.oid), position('(' in substring(pg_get_constraintdef(c.oid), 14))+14, position(')' in substring(pg_get_constraintdef(c.oid), position('(' in substring(pg_get_constraintdef(c.oid), 14))+14))-1) END AS "PK_Column"
FROM   pg_constraint c
JOIN   pg_namespace n ON n.oid = c.connamespace
WHERE  contype IN ('f', 'p ')
AND pg_get_constraintdef(c.oid) LIKE 'FOREIGN KEY %'
ORDER  BY pg_get_constraintdef(c.oid), conrelid::regclass::text, contype DESC;

Will return a table of form:

| FK_Table | FK_Column | PK_Table | PK_Column |

No need to parse pg_get_constraintdef(), just use columns of pg_constraint table to obtain other details (the docs).

Here constraint_type can be:

• p - primary key,
• f - foreign key,
• u - unique,
• c - check constraint,
• x - exclusion,
• ...

Based on Erwin's answer:

SELECT c.conname                                 AS constraint_name,
   c.contype                                     AS constraint_type,
   sch.nspname                                   AS "self_schema",
   tbl.relname                                   AS "self_table",
   ARRAY_AGG(col.attname ORDER BY u.attposition) AS "self_columns",
   f_sch.nspname                                 AS "foreign_schema",
   f_tbl.relname                                 AS "foreign_table",
   ARRAY_AGG(f_col.attname ORDER BY f_u.attposition) AS "foreign_columns",
   pg_get_constraintdef(c.oid)                   AS definition
FROM pg_constraint c
       LEFT JOIN LATERAL UNNEST(c.conkey) WITH ORDINALITY AS u(attnum, attposition) ON TRUE
       LEFT JOIN LATERAL UNNEST(c.confkey) WITH ORDINALITY AS f_u(attnum, attposition) ON f_u.attposition = u.attposition
       JOIN pg_class tbl ON tbl.oid = c.conrelid
       JOIN pg_namespace sch ON sch.oid = tbl.relnamespace
       LEFT JOIN pg_attribute col ON (col.attrelid = tbl.oid AND col.attnum = u.attnum)
       LEFT JOIN pg_class f_tbl ON f_tbl.oid = c.confrelid
       LEFT JOIN pg_namespace f_sch ON f_sch.oid = f_tbl.relnamespace
       LEFT JOIN pg_attribute f_col ON (f_col.attrelid = f_tbl.oid AND f_col.attnum = f_u.attnum)
GROUP BY constraint_name, constraint_type, "self_schema", "self_table", definition, "foreign_schema", "foreign_table"
ORDER BY "self_schema", "self_table";

Results are ordered by schema and table.

Technical note: see this question about with ordinality.