If I create a Maven job in Jenkins (New Item => Maven project, using the maven plugin) with all defaults and run it, I get this error:
For me, the solution was to go to Manage Jenkins -> Global Tool Configuration, and set up maven there. You can access this via /configureTools (ex: http://your-ip:8080/jenkins/configureTools )
Example: Maven installations
Additional configurations for other common tools at /configureTools :
Git installations
JDK installations