  Periodically driven Kitaev chains show a rich phase diagram as the amplitude
and frequency of the drive is varied, with topological phase transitions
separating regions with different number of Majorana zero and {\pi} modes. We
explore whether the critical point separating different phases of the
periodically driven chain may be characterized by a universal central charge.
We affirmatively answer this question by studying the entanglement entropy (EE)
numerically and analytically for the lowest entangled many particle eigenstate
at arbitrary nonstroboscopic and stroboscopic times. We find that the EE at the
critical point scales logarithmically with a time-independent central charge,
and that the Floquet micromotion gives only subleading corrections to the EE.
This result also generalizes to multicritical points where the EE is found to
have a central charge that is the sum of the central charges of the
intersecting critical lines.
