This issue is fixed in jQuery Validation Plugin 1.11.0pre.
Unfortunately there is currently no pre-release build on NuGet, so it is currently necessary to download jquery.validation.js directly from GitHub:
jQuery.Validation 1.11 is now available via NuGet (thanks @Simon_Weaver).
UPDATE
It looks like general support for jQuery 1.9 is in the jQuery.Validation code base but not yet released