The performance with jOOQ is great. I find it on par with raw SQL. It also has quite a few advanced ways to map the results that can take more complex queries and map them into usable data easily. The main jOOQ programmer really knows databases and has a very informative blog.
My only complaint (and it's a minor one that would be hard to get around) is the need to run a code generator for jOOQ after every schema change.