Are you using desired capabilities to setup session?
This error appears only when we are using desired capabilities instead of ChrimeOptions.
It is mentioned in Selenium Release Notes that with the current implementation of Selenium while invoking RemoteWebDriver supports the ChromeOptions like
webDriver = new RemoteWebDriver(new URL("http://yourIP:5555/wd/hub"), options);
instead of DesiredCapabilities
to make it works.
Additionally cross check firewall’s related issue on jenkins’s slave machine.
Chromedriver version should be v17.0.963.0 or after.
Hope it will help you.