I am not aware of a Debian package plugin for Jenkins, and I didn't find the maven-deb-plugin suitable for my needs (see "What doesn't work" on page you linked to). Where I have a maven build job in Jenkins I add a post step shell script which increments the version in debian/changelog and runs dpkg-buildpackage -b -nc.
-nc suppresses a clean before build, which is necessary because my debian/rules file will otherwise try to run the maven targets to build jars, which Jenkins has already done. Snippet from my debian/rules:
pre-built-stamp
mvn package
touch pre-built-stamp
override_dh_auto_build: pre-built-stamp
So after the maven steps in Jenkins it runs the following
touch pre-built-stamp
dpkg-buildpackage -b -nc
This part is personal preference, but I do not have Jenkins push built debs straight to my repository. Instead it saves the .deb and .changes files as build artifacts so I can use the Promoted Builds Plugin to sign the .changes file and copy it to the repository (rsync). This lets my developers download and test the deb out before approving it to be pushed to our staging repository. A second promotion can then be used to push the package to a live repository.
I chose reprepro as our repository manager. Its one major drawback is that it cannot handle more than one version of a package in a distribution at once which makes rollback more painful. Aside from this found it reliable and usable, and now use it to completely mirror the main Debian repositories as well as using it to host my private repos.
Reprepro uses inoticoming to spot new incoming packages and verifies the signature on the changes file, ensuring that only Jenkins can add new packages.
I find some of the reprepro documentation online lacking, but I recommend installing it and reading the reprepro and inoticoming man pages.