As already mentioned, this is due to a break in JaCoCo maven plugin code.
You can (temporarily) specify the version in your jenkins maven command like:
clean org.jacoco:jacoco-maven-plugin:<version>:prepare-agent install
e.g.
clean org.jacoco:jacoco-maven-plugin:0.7.4.201502262128:prepare-agent install
This was the workaround that helped us. But like most people, I’m still waiting for the fix to come.