An approximation (as well as a short summary of the history of the problem) is given in Jones and Zhigljavsky (2004) "Approximating the negative moments of the Poisson distribution" Statistics & Probability Letters, Volume 66, Issue 2
$\mu_{-\alpha} \cong \mu_{-\alpha}^{(k)} = \sum_{u = \alpha}^k \frac{s(u,\alpha)}{\lambda^u} $
where the $s(u,\alpha)$ are Stirling numbers of the first kind.
For the case $\alpha = 1$ this can be written by replacing the Stirling numbers with a factorial.
$\mu_{-1} \cong \mu_{-1}^{(k)} = \sum_{u = 1}^k \frac{s(u,1)}{\lambda^u} = \sum_{u=1}^k \frac{(u-1)!}{\lambda^u} $
Note that this is not an approximation that improves with increasing the order as $k \to \infty$.
In 1964 Tiku gave the following approximation in 'A Note on the Negative Moments of a Truncated Poisson Variate' JASA Vol. 59, No. 308
$$M(1) \approx \frac{1}{1-e^{-\lambda}} \frac{1}{\lambda -1} \cdot \left({1+\sum_{r=3}^j \beta_r}\right)$$
where the $\beta_r$ are coefficients determined by a Laguerre polynomials expansion and matching the coefficients such that the moments match. We have $\beta_r = \frac{a^{(r)}}{\lambda (\lambda-1) \cdots (\lambda-r)}$ (In Tiku's article this seems to be a typo) and $a^{(3)} = 1, a^{(4)} = 7, a^{(5)} = 43, a^{(6)} = 271, a^{(7)} = 1811$
The result in the comment by Christoph Hanck, relating to Wolram Alpha, is also mentioned in Jones and Zhigljavsky
Note that a number of alternative approximations to $μ_{−1}$ can be constructed through using the fact that $\mu_{-1} = \frac{e^{-\lambda}}{1-e^{-\lambda}} (Ei(\lambda)-\log \lambda - \gamma)$
R-code to try out
lambda = 8
k = 1:1000
pp <- dpois(k,lambda)/(1-exp(-lambda))
### compute E(1/k) with brute force
sum(pp/k)
### compute E(1/k) with less force
ar = c(1,7,43,271,1811)
ff = cumprod(lambda-c(0:6))
br = ar/ff[-c(1:2)]
result = (1/(1-exp(-lambda)))*(1/(lambda-1))*(1+cumsum(br))
### compute with integral
exp(-lambda)/(1-exp(-lambda))*(expint::expint_Ei(lambda)-log(lambda)-0.57721)