I can recommend Apache wink, a new framework still in incubation mode, but very mature and high quality.
http://incubator.apache.org/wink/
It implements the JAX-RS specification, it has both client & server framework for REST development.
Apache is standing behind this project - that's always a good sign (and a good license :-) )
What I love most about this framework is the intuitive integration with Spring, it's very useful if you want your framework to be easily configured and extended.