I would not bet on the existence of a nice closed form, but since
$$ \frac{1}{1+p^2} \approx -\log\left(1-\frac{1}{p^2}\right)+\frac{3}{2}\log\left(1-\frac{1}{p^4}\right) $$
is a pretty accurate approximation for any $p\geq 3$, by Euler's product we have
$$ \sum_{p}\frac{1}{1+p^2}\approx \frac{1}{5}+\log\prod_{p\geq 3}\frac{(1-1/p^4)^{3/2}}{1-1/p^2}=\frac{1}{5}+\log\frac{\zeta(2)\left(1-\frac{1}{4}\right)}{\zeta(4)^{3/2}\left(1-\frac{1}{16}\right)^{3/2}} $$
or
$$ \sum_{p}\frac{1}{1+p^2}\approx \frac{1}{5}+\log\frac{48\sqrt{6}}{\pi^4} = \color{green}{0.38}8161\ldots $$
In order to compute the LHS with more accuracy, it is enough to find the coefficients $a_1,a_2,\ldots,a_n$ such that the Maclaurin series of $\frac{x^2}{x^2+1}$ and $\sum_{k=1}^{n}-a_k \log\left(1-x^{2k}\right)$ agree up to the $x^{2n}$ term - this is equivalent to the inversion of a structured matrix$^{(*)}$, and it leads to an approximate identity of the
$$ \sum_{p}\frac{1}{1+p^2} \approx \log\prod_{k=1}^{n}\zeta(2k)^{a_k}$$
kind, which can be further improved by computing $\sum_{k=1}^{n}\frac{1}{1+p_k^2}$ in a explicit way, then exploiting the previous manipulations in terms of "delayed" Euler products $\prod_{p>p_n}\left(1-\frac{1}{p^{2k}}\right)^{-1}$.
$(*)$ In terms of the algebra of the arithmetic functions with respect to the Dirichlet convolution, this inversion problem can be written as $(-1)^{m+1}=(a*\text{Id}^{-1})(m)$ for any $m\geq 1$. It leads to the recursion $a_1=1$ and
$$a_m = (-1)^{m+1}-\frac{1}{m}\sum_{\substack{d\mid m\\ d<m}}da_d.$$
For instance, the improved approximation
$$ \frac{1}{1+p^2}\approx -\log\left(1-\tfrac{1}{p^2}\right)+\tfrac{3}{2}\log\left(1-\tfrac{1}{p^4}\right)-\tfrac{2}{3}\log\left(1-\tfrac{1}{p^6}\right)$$
leads to
$$ \sum_{p}\frac{1}{1+p^2}\approx \frac{3}{10}+\log\frac{\zeta(2)\left(1-\frac{1}{4}\right)\left(1-\frac{1}{9}\right)\zeta(6)^{2/3}\left(1-\frac{1}{64}\right)^{2/3}\left(1-\frac{1}{729}\right)^{2/3}}{\zeta(4)^{3/2}\left(1-\frac{1}{16}\right)^{3/2}\left(1-\frac{1}{81}\right)^{3/2}}$$
or
$$ \sum_{p}\frac{1}{1+p^2}\approx \frac{3}{10}+\frac{1}{6}\log\frac{16663715523}{9765625000}=\color{green}{0.3890}61\ldots$$
Up to $30$ figures we have
$$ \sum_{p}\frac{1}{p^2+1}=\sum_{m\geq 1}a_m\log\zeta(2m) \approx \color{green}{0.3890595553169683717104143896924963581384} $$
This is a practical acceleration formula since the coefficients $a_m$ are simple to compute and bounded, while $\log\zeta(2m)$ has an exponential decay as $m\to +\infty$.