The solution was quite simple, but since I found it through an example trying to demonstrate something else, rather than a Q&A (and I did not find it easily in the maven-android-plugin project,) I decided to share it here with the hope it can help someone.
The solution was just to set my dependency type to apklib in this way:
<dependency>
<groupId>groupID.name</groupId>
<artifactId>artifact.name</artifactId>
<version>version</version>
<type>apklib</type>
</dependency>