I also had the same problem so I built my own tool maven-module-graph.
Try it out on this project: https://github.com/eclipse/steady/tree/3d261afe9513f7c708324aa0183423ab2e9e4692
$ java -jar maven-module-graph-1.0.0-SNAPSHOT.jar --project-root . --plain-text output.txt --plain-text-indent 0
You can also use indent to show the hierarchy in the modules. Json format is also available.
org.eclipse.steady:root:3.2.5
org.eclipse.steady:rest-backend:3.2.5
org.eclipse.steady:rest-lib-utils:3.2.5
org.eclipse.steady:frontend-bugs:3.2.5
org.eclipse.steady:frontend-apps:3.2.5
org.eclipse.steady:plugin-maven:3.2.5
org.eclipse.steady:cli-scanner:3.2.5
org.eclipse.steady:kb-importer:3.2.5
org.eclipse.steady:patch-lib-analyzer:3.2.5
org.eclipse.steady:patch-analyzer:3.2.5
org.eclipse.steady:repo-client:3.2.5
org.eclipse.steady:lang-python:3.2.5
org.eclipse.steady:lang-java-reach-soot:3.2.5
org.eclipse.steady:lang-java-reach-wala:3.2.5
org.eclipse.steady:lang-java-reach:3.2.5
org.eclipse.steady:lang-java:3.2.5
org.eclipse.steady:lang:3.2.5
org.eclipse.steady:shared:3.2.5