After upgrading ImageMagick text quality got degraded when convert pdf to jpeg:
Old image
it seem that problem at DPI. when convert pdf, imagemagick using Ghostscript. you can skip using imagemagick.
$ gs -q -dQUIET -dSAFER -dBATCH -dNOPAUSE -dNOPROMPT -dMaxBitmap=500000000 -dGridFitTT=2 -dUseCropBox -dTextAlphaBits=4 -dGraphicsAlphaBits=4 -r200x200 -sDEVICE=jpeg -dJPEGQ=100 -sOutputFile=foo-%05d.jpg foo.pdf
set -r option higher value. Ghostscript have default value is 100DPI.
or using convert option -density. this option set pdf converted DPI.
$ convert -density 200x200 foo.pdf foo.jpg