I've set my Raspberry Pi up as an NFS server, but I cannot connect to it with NFS version 4. However, version 3 works. From my Kubuntu 13.04 client:
$ sudo mount -t nfs -o proto=tcp,port=2049,vers=4 192.168.1.91:/export /mnt/pi -v
mount.nfs: timeout set for Tue Sep 17 09:47:26 2013
mount.nfs: trying text-based options 'proto=tcp,port=2049,vers=4,addr=192.168.1.91,clientaddr=192.168.1.7'
mount.nfs: mount(2): Permission denied
mount.nfs: access denied by server while mounting 192.168.1.91:/export
$ sudo mount -t nfs -o proto=tcp,port=2049,vers=3 192.168.1.91:/export /mnt/pi -v
mount.nfs: timeout set for Tue Sep 17 09:47:31 2013
mount.nfs: trying text-based options 'proto=tcp,port=2049,vers=3,addr=192.168.1.91'
mount.nfs: prog 100005, trying vers=3, prot=6
mount.nfs: trying 192.168.1.91 prog 100005 vers 3 prot TCP port 35976
From the server, it seems that NFS version 4 is compiled in the kernel.
$ rpcinfo -p
program vers proto port service
100000 4 tcp 111 portmapper
100000 3 tcp 111 portmapper
100000 2 tcp 111 portmapper
100000 4 udp 111 portmapper
100000 3 udp 111 portmapper
100000 2 udp 111 portmapper
100024 1 udp 51953 status
100024 1 tcp 42383 status
100003 2 tcp 2049 nfs
100003 3 tcp 2049 nfs
100003 4 tcp 2049 nfs
100227 2 tcp 2049
100227 3 tcp 2049
100003 2 udp 2049 nfs
100003 3 udp 2049 nfs
100003 4 udp 2049 nfs
100227 2 udp 2049
100227 3 udp 2049
100021 1 udp 41873 nlockmgr
100021 3 udp 41873 nlockmgr
100021 4 udp 41873 nlockmgr
100021 1 tcp 35095 nlockmgr
100021 3 tcp 35095 nlockmgr
100021 4 tcp 35095 nlockmgr
100005 1 udp 60943 mountd
100005 1 tcp 44936 mountd
100005 2 udp 52342 mountd
100005 2 tcp 56312 mountd
100005 3 udp 57888 mountd
100005 3 tcp 35976 mountd
==EDIT==
Server logs at /var/log/messages are unchanged for both attempts.
Server logs at /var/log/syslog are unchanged for unsuccessful v4 attempts, but are appended for successful v3 attempts, as follows.
Sep 17 21:48:27 raspberrypi rpc.mountd[24098]: authenticated mount request from 192.168.1.7:1021 for /export (/export)
Sep 17 22:09:12 raspberrypi rpc.mountd[24098]: authenticated mount request from 192.168.1.7:790 for /export (/export)
Sep 17 22:09:51 raspberrypi rpc.mountd[24098]: authenticated mount request from 192.168.1.7:1002 for /export (/export)
Oddly enough, it seems like the port is changing, despite me specifying 2049?
==EDIT==
Contents of server's /etc/export
/export 192.168.1.0/24(rw,fsid=0,insecure,no_subtree_check,async,crossmnt)