As workarroud you can start kamailio (or docker container) as service unit. Then systemd logs will contain timestamp.
Example

[root@node0 ~]# journalctl -flu kamailio-docker
-- Logs begin at Mon 2019-04-01 00:27:18 GMT. --
Apr 03 01:50:11 node0.docker.rcsnet.ru sh[17746]: 68(76) INFO: <script>: 6F3E-C434-46684819C4E9AF592AFC-001@SipHost|log|from sip:1471@client-1143.rcsnet.ru
Apr 03 01:50:11 node0.docker.rcsnet.ru sh[17746]: 68(76) INFO: <script>: 6F3E-C434-46684819C4E9AF592AFC-001@SipHost|log|to sip:1471@client-1143.rcsnet.ru
Apr 03 01:50:11 node0.docker.rcsnet.ru sh[17746]: 68(76) INFO: <script>: 6F3E-C434-46684819C4E9AF592AFC-001@SipHost|log|originated from external sources
Apr 03 01:50:11 node0.docker.rcsnet.ru sh[17746]: 68(76) INFO: <script>: 6F3E-C434-46684819C4E9AF592AFC-001@SipHost|end|issued auth challenge to new registration for sip:1471@client-1143.rcsnet.ru 94.45.179.35:5060
Apr 03 01:50:11 node0.docker.rcsnet.ru sh[17746]: 62(70) INFO: <script>: 6F3E-C434-46684819C4E9AF592AFC-001@SipHost|start|received udp request REGISTER sip:client-1143.rcsnet.ru:5060


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