We can use, maven-jar-plugin instead, why because the classpath generated is not getting accommodated while copy paste with java command in command-line.
mvn -f /temp/tempfile.xml dependency:resolve dependency:build-classpath -DmdepoutputFile=/temp/classpath.txt
So wasn't able to succeed copying classpath.txt for the command,
java -cp yourjar.jar;<created classpath>
Mine is spring-boot application hence I have the following line with BOOT-INF/lib. For you it can be WEB-INF/lib in case of .war file or just lib/ in case of ant build based projects.
<classpathLayoutType>custom</classpathLayoutType>
<customClasspathLayout>BOOT-INF/lib/$${artifact.artifactId}-$${artifact.version}$${dashClassifier?}.$${artifact.extension}</customClasspathLayout>
BOOT-INF, comes up by spring-boot:repackage maven command and with the use of plugin,-spring-boot-maven-plugin that I have not Included here.
Please find maven-jar-plugin config here.
     <plugin>
        <groupId>org.apache.maven.plugins</groupId>
        <artifactId>maven-jar-plugin</artifactId>
        <configuration>
            <archive>
                <manifest>
                    <addClasspath>true</addClasspath>
                    <mainClass>com.pakage.SampleApplication</mainClass>
                    <!--<classpathPrefix>lib/</classpathPrefix>-->                          
                    <classpathLayoutType>custom</classpathLayoutType>
                    <customClasspathLayout>BOOT-INF/lib/$${artifact.artifactId}-$${artifact.version}$${dashClassifier?}.$${artifact.extension}</customClasspathLayout>
                    <!--<customClasspathLayout>BOOT-INF/lib/$${artifact.groupIdPath}/$${artifact.artifactId}-$${artifact.version}$${dashClassifier?}.$${artifact.extension}</customClasspathLayout>-->                      
                </manifest>
            </archive>
        </configuration>
    </plugin>