To add to the excellent answers by Carlos and Xi'an, it is also interesting to note that a sufficient condition for the KL divergence to be finite is for both random variables to have the same compact support, and for the reference density to be bounded. This result also establishes an implicit bound for the maximum of the KL divergence (see theorem and proof below).
Theorem: If the densities $p$ and $q$ have the same compact support $\mathscr{X}$ and the density $p$ is bounded on that support (i.e., is has a finite upper bound) then $KL(P||Q) < \infty$.
Proof: Since $q$ has compact support $\mathscr{X}$ this means that there is some positive infimum value:
$$\underline{q} \equiv \inf_{x \in \mathscr{X}} q(x) > 0.$$
Similarly, since $p$ has compact support $\mathscr{X}$ this means that there is some positive supremum value:
$$\bar{p} \equiv \sup_{x \in \mathscr{X}} p(x) > 0.$$
Moreover, since these are both densities on the same support, and the latter is bounded, we have $0 < \underline{q} \leqslant \bar{p} < \infty$. This means that:
$$\sup_{x \in \mathscr{X}} \ln \Bigg( \frac{p(x)}{q(x)} \Bigg) \leqslant \ln ( \bar{p}) - \ln(\underline{q}).$$
Now, letting $\underline{L} \equiv \ln ( \bar{p}) - \ln(\underline{q})$ be the latter upper bound, we clearly have $0 \leqslant \underline{L} < \infty$ so that:
$$\begin{equation} \begin{aligned}
KL(P||Q)
&= \int \limits_{\mathscr{X}} \ln \Bigg( \frac{p(x)}{q(x)} \Bigg) p(x) dx \\[6pt]
&\leqslant \sup_{x \in \mathscr{X}} \ln \Bigg( \frac{p(x)}{q(x)} \Bigg) \int \limits_{\mathscr{X}} p(x) dx \\[6pt]
&\leqslant (\ln ( \bar{p}) - \ln(\underline{q})) \int \limits_{\mathscr{X}} p(x) dx \\[6pt]
&= \underline{L} < \infty. \\[6pt]
\end{aligned} \end{equation}$$
This establishes the required upper bound, which proves the theorem. $\blacksquare$