Resurfacing this thread to suggest 2 workarounds:
1) In the new PVA unified authoring canvas (currently in public preview)
For chatbots created in the new authoring canvas, you can get the conversation id directly from the system variables:

2) In the production version of PVA, using Bot Framework Composer
Open the PVA bot with Bot Framework Composer:

Create a new dialog (e.g. GetConversationId)

In the dialog, under "Dialog Interface", add a new Output.
With a key name, e.g. "conversationId" and of type "string".

In BeginDialog, add a new node of type "Set a property" (under "Manage properties"), and define it with:
Property: dialog.result.conversationId
Value: =turn.activity.conversation.id (even if it's not auto-suggested)

In Bot Framework Composer, the final step is to publish the bot:

Back in Power Virtual Agents, in a topic, you can select "Redirect to another topic" and select the "getConversationId" dialog.
The conversationId variable will be available as an output:
