I will show $S$ is dense in $\mathbb R^+$ and $S$ is measure $0$.
Let $$I_{p,q} = \left(\frac{p}{q}-\frac{1}{q^2},\frac{p}{q}+\frac{1}{q^2}\right).$$
To see $S$ is dense, note that the open sets $$S_n = \bigcup_{\substack{q\in P \\ q > n}}\bigcup_{p \in P} I_{p,q} $$
are dense, since for fixed $b > a \ge 0$ and any large enough $q$ there is always a prime in $(aq,bq)$ by the prime number theorem. Thus $S = \bigcap_{n=1}^\infty S_n$ is dense by the Baire category theorem. Note that this would work with any exponent besides $2$, and even the analog of Liouville numbers will be dense.
To see $S$ is Lebesgue measure $0$, for $m>0$ write $$
S \cap [0,m) = \bigcap_{n=1}^\infty \bigcup_{\substack{q\in P \\ q > n}} \bigcup_{\substack{p\in P \\ p < mq}} I_{p,q}.$$
Now $$\sum_{q \in P}\lambda\left(\bigcup_{\substack{p\in P \\ p < mq}} I_{p,q}\right) = 2m\sum_{q \in P}\frac{1+o(1)}{q\log{(mq)}} < \infty$$
as $\sum_{q \in P}\frac{1}{q\log{q}} < \infty$ (see here), so by the Borel-Cantelli lemma $\lambda(S \cap [0,m)) = 0$ and thus $\lambda(S)=0$.