The answer is yes. For example let $A =\{ 1, \frac{1}{2}, \ldots , \frac{1}{n}, \ldots \}$. Consider the orbits of each element separately under $\mathbb Z$. So fox each fixed $n \in \mathbb N$ let $O_n = \{m \frac{1}{n} \ \colon m \ \in \mathbb Z\}$
$O_1 = \{\ldots, -2, -1, 0, 1, 2, \ldots \}$. Every interval of length $1$ contains an element of $O_1$.
$O_2 = \{\displaystyle \ldots, -1, -\frac{1}{2}, 0, \frac{1}{2}, 1, \ldots \}$. Every interval of length $\frac{1}{2}$ contains an element of $O_2$
$O_3 = \{\displaystyle \ldots, \frac{1}{2}, -\frac{1}{4}, 0, \frac{1}{4}, \frac{1}{2}, \ldots \}$. Every interval of length $\frac{1}{4}$ contains an element of $O_3$
$\vdots$
The set you defined is $O_1 \cup O_2 \cup \ldots$ . Can you see why it is dense in this case? How does that proof generalise to a general set $A$ which is dense at zero.
Edit: As demanded a complete formal proof.
Suppose as asked that $A \subset \mathbb R$ has a limit point at $0$. What this means is there is a sequence $\{a_1,a_2, \ldots\} \subset A-\{0\}$ such that $\lim a_n = 0$. We will define a subsequence $b_n$ that is easier to work with. By definition of convergence there exists, for each $n \in \mathbb N$ some sequence element $a_m$ such that $|a_m| < 1/n$. Choose $b_n = a_m$. Then each $|b_n| \le 1/n$. We will show the set $B = \{k b_n \colon k \in \mathbb Z$ and $m \in \mathbb N \}$ is dense in $\mathbb R$. Since $B \subset A$ this will imply that $A$ is dense as well.
To that end let $x \in \mathbb R$ be arbitrary. We will show $x$ is a limit point of $B$.
For each $n \in \mathbb N$ define $O_n = \{\ldots -2b_n, -b_n, 0, b_n, 2b_n, \ldots \}$. Clearly each $O_n \subset B$. These elements are evenly spaced along the real line, and the real number $x$ is an element of some interval $[kb_n, (k+1)b_n]$ which has length $|b_n|$. This implies that $|x-kb_n| \le |b_n| \le 1/n$ by construction. Define $c_n = kb_n$ then $c_n \in O_n \subset B$.
Observe that for each $n \in \mathbb N$ we have $|x-c_n| \le 1/n$. This means $c_n$ is a sequence in $B$ with limit $x$. Since $x$ was arbitrary this completes the proof.
Edit: The role of a math-learner is to read formal proofs and understand not just what the author is doing but, more importantly, why the author is doing it. This skill can not be developed by just reading proofs from a book. You must solve problems yourself and construct your own proofs, formal or otherwise, and either succeed or try to understand what went wrong. Unless you are doing this you are not learning maths. You might just be "learning off" maths though.