Here is the complete solution for PostgreSQL 9+, updated recently.
CREATE USER readonly WITH ENCRYPTED PASSWORD 'readonly';
GRANT USAGE ON SCHEMA public to readonly;
ALTER DEFAULT PRIVILEGES IN SCHEMA public GRANT SELECT ON TABLES TO readonly;
-- repeat code below for each database:
GRANT CONNECT ON DATABASE foo to readonly;
\c foo
ALTER DEFAULT PRIVILEGES IN SCHEMA public GRANT SELECT ON TABLES TO readonly; --- this grants privileges on new tables generated in new database "foo"
GRANT USAGE ON SCHEMA public to readonly;
GRANT SELECT ON ALL SEQUENCES IN SCHEMA public TO readonly;
GRANT SELECT ON ALL TABLES IN SCHEMA public TO readonly;
Thanks to https://jamie.curle.io/creating-a-read-only-user-in-postgres/ for several important aspects
If anyone find shorter code, and preferably one that is able to perform this for all existing databases, extra kudos.