I've seen a couple of Maven setups, which bundle test code in an own Maven module. You could then create a simple main-module <- support-module <- test-module dependency chain with that. But then main-module would compile fine, if you build it on it's own without test-module. Ofc you could aggreate them together with a reactor-pom and just build the project via this pom.
Edit:
If you have problems with this setup regarding code coverage, you can use the Jacoco Maven plugin to aggregate the test coverage generated by test-module to main-module. See this for further information: http://www.petrikainulainen.net/programming/maven/creating-code-coverage-reports-for-unit-and-integration-tests-with-the-jacoco-maven-plugin/