Sure, core/pom.xml shows plenty of dependencies on libraries elsewhere in the jenkinsci org (or even other orgs, like kohsuke). So long as the dependency is not expected to be constantly changing (and in conjunction with changes to jenkins source files), this is fine.
In fact I think the whole ui-ext subdirectory should be in its own repo with its own version numbering scheme.
Also the artifactId of the plugin should not end in -plugin.