The topological structure of RDF graphs inherently differs from other types of graphs, like social graphs, due to the pervasive existence of hierarchical relations (TBox), which complement transversal relations (ABox). Graph measures capture such particularities through descriptive statistics. Besides the classical set of measures established in the field of network analysis, such as size and volume of the graph or the type of degree distribution of its vertices, there has been some effort to define measures that capture some of the aforementioned particularities RDF graphs adhere to. However, some of them are redundant, computationally expensive, and not meaningful enough to describe RDF graphs. In particular, it is not clear which of them are efficient metrics to capture specific distinguishing characteristics of datasets in different knowledge domains (e.g., Cross Domain vs. Linguistics). In this work, we address the problem of identifying a minimal set of measures that is efficient, essential (non-redundant), and meaningful. Based on 54 measures and a sample of 280 graphs of nine knowledge domains from the Linked Open Data Cloud, we identify an essential set of 13 measures, having the capacity to describe graphs concisely. These measures have the capacity to present the topological structures and differences of datasets in established knowledge domains.