怪自己看官方安装文档不够仔细。后再SO中找到了答案
http://stackoverflow.com/questions/29255495/maven-installation-osx-error-unsupported-major-minor-version-51-0
方法是需要设定环境变量JAVA_HOME
vim ~/.bash_profile
按i进入编辑模式输入如下内容
export M2_HOME=/opt/apache-maven-3.3.9
export PATH=$M2_HOME/bin:$PATH
export JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk1.8.0_45.jdk/Contents/Home
第一行"/opt/apache-maven-3.3.9"为maven安装路径。
第三行"jdk1.8.0_45.jdk"需要根据本机jdk版本而定,不能低于1.7,可以自己前往该目录查看。
按ESC退出编辑模式,再按SHIFT+ZZ (或:wq!)存盘退出,关闭并重启终端,输入mvn -v查看版本号,成功。$ mvn -v
Apache Maven 3.3.9 (bb52d8502b132ec0a5a3f4c09453c07478323dc5; 2015-11-11T00:41:47+08:00)
Maven home: /opt/apache-maven-3.3.9
Java version: 1.8.0_45, vendor: Oracle Corporation
Java home: /Library/Java/JavaVirtualMachines/jdk1.8.0_45.jdk/Contents/Home/jre
Default locale: zh_CN, platform encoding: UTF-8
OS name: "mac os x", version: "10.11.5", arch: "x86_64", family: "mac"