That would depend on the chip/s used on that shield I'd say. If you know the chip (many use the ancient L293 or L298) you could count up how many it needs; or one would hope the shield's documentation would say what pins it uses. Certainly if it's a shield that works on an Uno then if you use it on a Mega it would be easy to see which pins are not physically covered.
edit... I wonder how up-to-date this site is. For the shields it has "decoded" it shows which pins do what.
Sometimes you can, it depends I guess on how well thought out the shield is. The DFR0009 LCD shield, for example, exposes the unused pins as holes and one can solder a few header pins on.
Most motor shields in any case use the old 293/298 and you would be doing yourself a favour by moving to more modern, more efficient chips which usually come as modules but not actual shields. Then you can use whatever pins you like. Look at Pololu for their huge list of motor modules to suit all manner of V and A requirements.
Some have stackable headers, some don't lots to choose from. As octopirate says, a Mega may be a better option for you (yes, the shields are designed to work the same as on Uno for the Mega). You just have to shop for the one that suits your needs. What size motors? What's it for? A separate motor controller instead of a shield may also be a better option.