I have found a solution:
pg_Connect("dbname=my_database");
$res = pg_exec($conn,
"INSERT INTO table
(field1, field2)
VALUES
('$value1', '$value2');");
$lastoid = pg_GetLastOid($res);
pg_FreeResult($res);
$res = pg_Exec($conn,
"SELECT id
FROM table
WHERE oid = '$lastoid';");
$new_id = pg_result($res, 0, "id");
pg_FreeResult($res);
pg_Close($conn);