If you just need generic post-receive hooks, you can just do a regular web hook and hit the build API endpoint. For instance, if the name of your Jenkins server is
jenkins.example.com and the name of the Pipeline job to trigger is
my_awesome_job, then you can fire off a POST request to
https://jenkins.example.com/job/my_awesome_job/build. Depending on your security model, this request may or may not need to be authenticated and authorized. If you do need authentication and authorization, you can use HTTP Basic auth (unfortunately I haven't found a reasonable way to do keypair auth).
If you need to trigger builds on pull requests, then you'll need a plugin. I've been using the pull-request-notifier plugin for Bitbucket to trigger builds from Bitbucket and it's worked pretty well. It works especially well in combination with the Bitbucket Branch Source plugin for Jenkins, which automatically creates Jenkins jobs for every branch and open PR of every single repository in a Bitbucket project. The combination of these two plugins allows me to automatically trigger builds as soon as a PR is opened and prevent merging the PR until the build passes (this is a pretty common workflow so I figure it's worth mentioning even if you didn't explicitly ask about it).