Although this answer is accepted, it only works for versions before 2.X.
But for version higher than 2.X, see this answer.
Yup, you can add any libraries you require by adding dependencies to the plugin, any explicitly defined dependencies will be copied to your jmeter/lib directory.
If the dependency is a JMeter plugin you can specify this in your configuration and then that dependency will be copied to your meter/lib/ext directory:
<plugin>
<groupId>com.lazerycode.jmeter</groupId>
<artifactId>jmeter-maven-plugin</artifactId>
<version>1.9.0</version>
<executions>
<execution>
<id>jmeter-tests</id>
<phase>verify</phase>
<goals>
<goal>jmeter</goal>
</goals>
<configuration>
<jmeterPlugins>
<plugin>
<groupId>kg.apc</groupId>
<artifactId>jmeter-plugins</artifactId>
</plugin>
</jmeterPlugins>
</configuration>
</execution>
</executions>
<dependencies>
<dependency>
<groupId>kg.apc</groupId>
<artifactId>jmeter-plugins</artifactId>
<version>1.1.3</version>
</dependency>
</dependencies>
</plugin>
This functionality was broken before version 1.9.0.