pom.xml中添加：

<dependency>
    <groupId>org.springframework.boot</groupId>
    <artifactId>spring-boot-starter-web</artifactId>
</dependency>
<dependency>
    <groupId>org.springframework.boot</groupId>
    <artifactId>spring-boot-starter-tomcat</artifactId>
    <!--  <scope>provided</scope>-->
</dependency>
<dependency>
    <groupId>org.apache.tomcat.embed</groupId>
    <artifactId>tomcat-embed-jasper</artifactId>
    <scope>provided</scope>
</dependency>
<!-- 如果用c标签，需要引入这个 -->
<dependency>
    <groupId>javax.servlet</groupId>
    <artifactId>jstl</artifactId>
    <scope>provided</scope>
</dependency>

<build>
    <plugins>
        <plugin>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-maven-plugin</artifactId>
        </plugin>
    </plugins>
</build>

还有一个可加的：

<dependency>
  <groupId>org.apache.tomcat</groupId>
  <artifactId>tomcat-servlet-api</artifactId>
  <version>8.0.28</version>
  <scope>provided</scope>
</dependency>

application.properties中添加：

spring.mvc.view.prefix=/WEB-INF/jsp/
spring.mvc.view.suffix=.jsp

代码结构如图：

springboot访问WEB-INF下的jsp页面_tomcat


controller代码:

@Controller
public class JspController {
  @RequestMapping("/index2")
  public String index2(){
    return "index2";
  }
}

启动application之后，输入路径即可：

http://localhost:8080/index2

注意：jsp文件不能放在templates下。
因为默认会去webapp下查找。