The following example works with Spring Boot 1.3.3.RELEASE:
https://github.com/ghillert/spring-boot-jsp-demo
The key is to put the static jsp content in:
/src/main/resources/META-INF/resources/WEB-INF/jsp
and ensure you define the view prefix/suffix in your application.properties:
spring.mvc.view.prefix=/WEB-INF/jsp/
spring.mvc.view.suffix=.jsp