After a longer web search, I still don't know, whether I should use constraints in my custom tables for WordPress plugin development. The most of my custom tables have a relation to the {prefix}users table with a foreign key user_id referring to the ID of {prefix}users. In common database design I would make a sql query like this example:
CREATE TABLE IF NOT EXISTS `{prefix}logs` (
`user_id` INT UNSIGNED NOT NULL,
[...]
PRIMARY KEY (`user_id`),
CONSTRAINT `logs_ibfk_1`
FOREIGN KEY (`user_id`)
REFERENCES `{prefix}users` (`ID`)
ON UPDATE CASCADE
ON DELETE CASCADE)
CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
For WordPress don't make use of constraints due to the specific database design of WordPress core, I'm not sure whether to use for my plugin or not.