We investigate precursors of critical behavior in the quasienergy spectrum due to the dynamical instability in the kicked top. Using a semiclassical approach, we analytically obtain a logarithmic divergence in the density of states, which is analogous to a continuous excited state quantum phase transition in undriven systems. We propose a protocol to observe the cusp behavior of the magnetization close to the critical quasienergy.PACS numbers: 05.30. Rt, 64.70.Tg, 05.45.Mt, 05.70.Fh The emerging field of excited state quantum phase transitions (ESQPTs) describes the nonanalytical behavior of excited states upon changes of parameters in the Hamiltonian [1][2][3]. This is in direct correspondence to quantum phase transitions (QPTs) [4], but takes place at critical energies above the ground state energy [5]. They entail dramatic dynamic consequences, e.g., environments with ESQPTs lead to enhanced decoherence, which could be a major drawback for building a quantum computer [6]. They appear in models of nuclear physics, such as the interacting Boson model [7,8] and the Lipkin-Meshkov-Glick model (LMG) [9]. In molecular physics, singularities of the density of states (DOS) arise in the vibron model [10], which are closely related to the monodromy in molecular bending degrees of freedom [11]. ESQPTs have been predicted to occur in prominent models of quantum optics such as the Dicke and Jaynes-Cummings models [12,13], too.Despite the striking observation of the QPT in the Dicke and the LMG model [14,15], ESQPTs have so far not been found experimentally for systems different to molecular ones, as the energies at which they occur are difficult to reach with standard techniques. Recently, however, the observation of low-energy singularities of the DOS in twisted graphene layers [16], and monodromy in diverse molecules [11], has opened an increasing interest in the experimental investigation of spectral singularities.Quantum critical behavior is usually defined with respect to system energies [4]. Under the effect of a nonadiabatic external control the energy is not conserved and it is not possible to uniquely define a ground state and the corresponding excited states. In this paper we make use of Floquet theory to introduce the concept of critical quasienergy states (CQS), which are a direct generalization of ESQPTs to driven quantum systems. Our model of choice is a paradigmatic model in the quantum chaos community: the kicked top. Quantum kicked systems play a prominent role in the investigation of quantum signatures of chaos and have intriguing relations to condensed matter systems [17]. Examples of these relations are the metal-supermetal [18] and metaltopological-insulator [19] QPTs in the kicked rotator, which can be thought of as a limiting case of the kicked top. Such a limit is established when the top is restricted to evolve along a small equatorial band, which is topologically equivalent to a cylinder [17].We are motivated by a recent experimental realization of the kicked top with driven ultra-cold Cesiuma...