SELECT COLUMN_NAME
FROM INFORMATION_SCHEMA.KEY_COLUMN_USAGE
WHERE OBJECTPROPERTY(OBJECT_ID(CONSTRAINT_SCHEMA + '.' + CONSTRAINT_NAME), 'IsPrimaryKey') = 1
AND TABLE_NAME = 'my_table_name' AND TABLE_SCHEMA = 'my_schema_name'
See also:
How to get primary key of a table from PostgreSQL
How to get primary key of a table from SQLite
How to get primary key of a table from MySQL
How to get primary key of a table from DB2
How to get primary key of a table from Oracle
Some SQL Server tools you can try: https://www.withdata.com/sql-server/