We have managed to have Jenkins correctly parse our XML output from our tests and also included the error information, when there is one. So that it is possible to see, dire
Not sure if you have solve it yet, but I just did something similar using Android and Jenkins.
What I did was using the http://code.google.com/p/the-missing-android-xml-junit-test-runner/ to run the tests in the Android emulator. This will create the necessary JUnit formatted XML files, on the emulator file system.
Afterwards, simply use 'adb pull' to copy the file over, and configure the Jenkin to parse the results. You can also artifact the XML files if necessary.
If you simply want to display the content of the result in the log, you can use 'Execute Shell' command to print it out to the console, where it will be captured in the log file.