こんな感じ。
ただし、Controllerのみで、RestControllerについては出力されません。
SpringDocletというのがあって
https://github.com/scottfrederick/springdoclet
それを、 @yujioramaさんが更新したものを使います。
https://bitbucket.org/yujiorama/springdoclet
ダウンロードから丸々取ってくると、zipがおちてくるので、トップディレクトリで
mvn package install site
<build>
<plugins>
<!-- This plugin section was added for the SpringDoclet project as an example of using the doclet from Maven. -->
<!-- run "mvn javadoc:javadoc" to use this plugin -->
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-javadoc-plugin</artifactId>
<executions>
<execution>
<id>before-tests-spring-javadoc</id>
<phase>generate-test-resources</phase>
<goals>
<goal>javadoc</goal>
</goals>
<configuration>
<doclet>org.springdoclet.SpringDoclet</doclet>
<docletArtifact>
<groupId>org.springdoclet</groupId>
<artifactId>springdoclet</artifactId>
<version>0.5-SNAPSHOT</version>
</docletArtifact>
<useStandardDocletOptions>false</useStandardDocletOptions>
</configuration>
</execution>
<execution>
<id>before-tests-javadoc</id>
<phase>generate-test-resources</phase>
<goals>
<goal>javadoc</goal>
</goals>
</execution>
</executions>
</plugin>
</plugins>
</build>
<reporting>
<plugins>
<!-- This plugin section was added for the SpringDoclet project as an example of using the doclet from Maven. -->
<!-- This configuration generates the springdoclet output along with the standard doclet output. -->
<!-- run "mvn site" to use this plugin -->
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-jxr-plugin</artifactId>
<version>${maven.jxr.version}</version>
</plugin>
</plugins>
</reporting>
という感じで。