It sounds like you need a multi-module maven project. Create a parent project, whose task is simply to aggregate your three modules and to provide one thing to build. Create one module for each of your packages, then define dependencies between those modules in the individual POM files.
The Maven build system is clever enough to know in which order to build the modules, based on the dependencies you declare between them. In cases where you don't define a dependency (e.g. between controller and dao), the controller module cannot access classes in the dao module.
The final source layout will be something like:
your-project
your-project/pom.xml <--- parent POM
your-project/dao
your-project/dao/pom.xml
your-project/dao/src/main/...
your-project/svc
your-project/svc/pom.xml
your-project/svc/src/main/...
your-project/controller
your-project/controller/pom.xml
your-project/controller/src/main/...