We present a systematic derivation of relativistic lattice kinetic equations for finite-mass particles, reaching close to the zero-mass ultrarelativistic regime treated in the previous literature. Starting from an expansion of the Maxwell-Jüttner distribution on orthogonal polynomials, we perform a Gauss-type quadrature procedure and discretize the relativistic Boltzmann equation on space-filling Cartesian lattices. The model is validated through numerical comparison with standard tests and solvers in relativistic fluid dynamics such as Boltzmann approach multiparton scattering and previous relativistic lattice Boltzmann models. This work provides a significant step towards the formulation of a unified relativistic lattice kinetic scheme, covering both massive and near-massless particles regimes.