PostgreSQL on RDS:
If you are using PostgreSQL on RDS, then as of now it doesn't support invoking lambda function as triggers.
Amazon Aurora(PostgreSQL Compatibility):
As of now this also doesn't support invoking lambda function as triggers.
PostgreSQL on EC2:
But if you have setup PostgreSQL on EC2, then you use leverage PL/Python language to create your User Defined Functions and AWS Python SDK to invoke Lambda functions.
In the below links, checkout the section titled PostgreSQL setup , in which they have provided detailed steps to achieve the same.
AWS Blog Link: Set up a SQL-to-Lambda interface
GitHub Link: aws-lambda-rdbms-integration