Add the following plugins in pom.xml. Check the value at mainClass,classpathPrefix,addClasspath tags.
<plugin>
        <groupId>org.apache.maven.plugins</groupId>
        <artifactId>maven-jar-plugin</artifactId>
        <version>2.4</version>
        <configuration>
            <archive>
                <manifest>
                    <mainClass>org.apache.camel.spring.Main</mainClass>
                    <classpathPrefix>lib/</classpathPrefix>
                    <addClasspath>true</addClasspath>
                </manifest>
            </archive>
        </configuration>
    </plugin>
    <plugin>
        <groupId>org.apache.maven.plugins</groupId>
        <artifactId>maven-assembly-plugin</artifactId>
        <version>2.4</version>
        <configuration>
            <descriptors>
                <descriptor>src/assembly/some-assembly.xml</descriptor>
            </descriptors>
        </configuration>
        <executions>
            <execution>
                <id>make-assembly</id>
                <phase>package</phase>
                <goals>
                    <goal>single</goal>
                </goals>
            </execution>
        </executions>
    </plugin>
Create some-assembly.xml under src/assembly as below.
<assembly
xmlns="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.0 http://maven.apache.org/xsd/assembly-1.1.0.xsd">
<id>distribution</id>
<formats>
    <format>zip</format>
</formats>
<includeBaseDirectory>true</includeBaseDirectory>
<fileSets>
    <fileSet>
        <directory>${project.build.directory}</directory>
        <outputDirectory>/</outputDirectory>
        <includes>
            <include>*.jar</include>
        </includes>
    </fileSet>
</fileSets>
<dependencySets>
    <dependencySet>
        <scope>runtime</scope>
        <outputDirectory>/lib</outputDirectory>
        <useProjectArtifact>false</useProjectArtifact>
        <unpack>false</unpack>
    </dependencySet>
</dependencySets>
Note that useProjectArtifact flag to false, unpack flag to false. If root folder inside zip file is not required,then one can make includeBaseDirectory to false.
This will create name-version-distribution.zip file. Inside zip file, there will be folder name-version. Inside this folder, your executable jar and lib folder containing all dependency jars will be present. Check manifest.MF file of executable jar. It contains both main class and classpath information.