You can import data from RDBMS into hive without Primarykey.
First you need to create a table in hive.After that you need to write the following code:
sqoop import \
--connect jdbc:mysql://localhost/test_db \
--username root \
--password **** \
--table <RDBMS-Table-name> \
--target-dir /user/root/user_data \
--hive-import \
--hive-table <hive-table-name> \
--create-hive-table \
-m 1 (or) --split-by <RDBMS-Column>