Depends on what qualifies as an ID and how hard it is to get one. But unless you're actively providing them to people that need them with no extra work or travel on their part then you're going to be discriminating against people with less money or time.

In the case where disproportionately more poor people are of a certain race then it can be seen as racist (as it affects the population of that race differently). If the reason that disproportionately more poor people are of a certain race is because of racism, then a policy that disenfranchised the poor would effectively extend economic discrimination into political discrimination.

Though I tend to think that even if we remove the economic effects of racism such that disenfranchising the poor couldn't be called racist, they would still be classist and should be avoided where possible.

It's been a talking point specific to the voting system in the US, strangely no other country seems to think it's an issue and as soon as the topic changes no one in the US has an issue requiring IDs for things.