If $a = b$, then every $f\in C([a,b])$ is Lipschitz continuous (with Lipschitz constant $0$), so in that degenerate case, $M$ actually is closed (trivially). Therefore let's assume $a < b$.
$M$ is the set of functions satisfying any Lipschitz condition on $[a,b]$. In particular, $M$ contains all polynomials, since these are continuously differentiable on all of $\mathbb{R}$, and hence their derivatives are bounded on $[a,b]$.
There is a theorem by Weierstraß that every continuous function on a compact interval can be uniformly approximated by polynomials, hence $M$ is dense in $(C([a,b]),\lVert\,\cdot\,\rVert_\infty)$. Since there are continuous functions that are not Lipschitz continuous, e.g. $x\mapsto \sqrt{\lvert x-c\rvert}$ for $c\in (a,b)$, $M$ is not closed (because the only closed and dense subset is the entire space).
In fact, since $M_K$ is closed and has empty interior for every $K$, and $M = \bigcup\limits_{n=1}^\infty M_n$ is a countable union of such sets, $M$ is meagre (of the first category) in $C([a,b])$, and by Baire's theorem $C([a,b])\setminus M$ is non-meagre (of the second category) in $C([a,b])$. So topologically, the set of Lipschitz continuous functions on $[a,b]$ is a small subset of the set of all continuous functions.