QT app running on MacOS gives error

I created a GUI app on MacOS, which is running well if I just use QT Creator build the project and run with the green triangle (Run). However, after the app is generated, if I run the app from the build directory, it cannot run when I double click that app, and gives an error message as the figure below:
Attachment 12810

If I click the "Reopen" button in the warning box, the app will start and run correctly. Both debug and release give the same result.

I also tried this app on Ubuntu system; the app runs correctly for all cases.

Could you please give me some hint about this problem? Thanks!

Mac OS: 10.12.6, QT Version: 5.9.2.