Here are steps to reproduce:

minikube start
kubectl run nginx --image=nginx
kubectl expose deployment nginx --port=80 --type=ClusterIP

kubectl run -i --tty --rm alpine --image=alpine --restart=Never -- sh
apk add --no-cache bind-tools

Now let's try to query kibe-dns for nginx service

with nslookup:

/ # nslookup nginx.default 10.96.0.10
Server:     10.96.0.10
Address:    10.96.0.10#53

Name:   nginx.default.svc.cluster.local
Address: 10.97.239.175

and with dig:

dig nginx.default @10.96.0.10 any

; <<>> DiG 9.11.3 <<>> nginx.default @10.96.0.10 any
;; global options: +cmd
;; Got answer:
;; ->>HEADER<<- opcode: QUERY, status: NOERROR, id: 46414
;; flags: qr rd ra; QUERY: 1, ANSWER: 0, AUTHORITY: 0, ADDITIONAL: 1

;; OPT PSEUDOSECTION:
; EDNS: version: 0, flags:; udp: 4096
;; QUESTION SECTION:
;nginx.default.         IN  ANY

;; Query time: 279 msec
;; SERVER: 10.96.0.10#53(10.96.0.10)
;; WHEN: Sun Jun 03 15:31:15 UTC 2018
;; MSG SIZE  rcvd: 42

Nothing changes if I replace name nginx.default with just nginx.

minikube version: v0.27.0, k8s version: 1.10.0