Create the PKA DNS record:

# localpart=andreas domain=jaggi.info url=http://andreas-jaggi.ch/1C6AC951.asc
# LANG=C gpg --fingerprint ${localpart}@${domain}|awk -v local=$localpart -v domain=$domain -v url=$url \
'/fingerprint/{printf("%s._pka.%s. TXT \"v=pka1;fpr=%s;uri=%s\"\n",local,domain,$4$5$6$7$8$9$10$11$12$13,url)}'
andreas._pka.jaggi.info. TXT "v=pka1;fpr=1073501542F38352FC85788207A32EAB1C6AC951;uri=http://andreas-jaggi.ch/1C6AC951.asc"

Test DNS resolution:

# dig +short -t txt andreas._pka.jaggi.info.
"v=pka1\;fpr=1388580990F38352FC85788207A32EAB1C6AC951\;uri=http://andreas-jaggi.ch/1C6AC951.asc"

Test with GPG:

# gpg --auto-key-locate pka -ea -r ${localpart}@${domain}

Detailed explanation of the different DNS publication mechanisms for PGP Keys:
Publishing PGP Keys in DNS

(via)