Yes, voting ID requirements in the US are discriminatory.

https://www.lwv.org/blog/whats-so-bad-about-voter-id-laws

Restrictive voting measures are designed to maintain the power structures that benefit those in control — largely white legislators — and their legacy is still felt today.

For example, Texas didn’t even sleep on it — they moved to introduce a strict voter ID law at midnight after the Supreme Court decision was handed down in 2013. That law resulted in the ineligibility of an estimated 608,470 registered voters in Texas, representing a total of about 4.5% of registered voters in the state at the time.

Other countries with universal and easily obtained IDs might not have the same outcomes, but in the US the ID requirement for voting only exists to suppress minority voting. You can find a lot of sources on how it works, but keep in mind that at the same time states added the ID requirement they also made it harder to obtain an ID.