原來是IntelliJ IDEA預設生成的web.xml文件的頭部不正確

<!DOCTYPE web-app PUBLIC
 "-//Sun Microsystems, Inc.//DTD Web Application 2.3//EN"
 "http://java.sun.com/dtd/web-app_2_3.dtd" >

<web-app>
  <display-name>Archetype Created Web Application</display-name>
  <context-param>
    <param-name>
 
contextConfigLocation</param-name>
    <param-value>classpath:spring.xml</param-value>
  </context-param>
  <listener>
    <listener-class>org.springframework.web.context.ContextLoaderListener</listener-class>
  </listener>
  <filter>
    <filter-name
 
>CharacterEncodingFilter</filter-name>
    <filter-class>org.springframework.web.filter.CharacterEncodingFilter</filter-class>
    <init-param>
      <param-name>encoding</param-name>
      <param-value>utf-8</param-value>
    </init-param>
  </filter
 
>
  <filter-mapping>
    <filter-name>CharacterEncodingFilter</filter-name>
    <url-pattern>/*</url-pattern>
  </filter-mapping>
  <servlet>
    <servlet-name>SpringMVC1</servlet-name>
    <servlet-class>org.springframework.web.servlet.DispatcherServlet</servlet-class>
    <init-param>
      <param-name>contextConfigLocation</param-name>
      <param-value>classpath:spring-mvc.xml</param-value>
    </init-param>
    <load-on-startup>1</load-on-startup>
  </servlet>
  <servlet-mapping>
    <servlet-name>SpringMVC1</servlet-name>
    <url-pattern>/</url-pattern>
  </servlet-mapping>
</web-app>

將web.xml的頭部改成如下即可

<?xml version="1.0" encoding="UTF-8"?>
<web-app xmlns:web="http://xmlns.jcp.org/xml/ns/javaee">
  <display-name>Archetype Created Web Application</display-name>
  <context-param>
    <param-name>contextConfigLocation</param-name>
    <param-value>classpath:spring.xml</param-value>
  </context-param>
  <listener>
    <listener-class>org.springframework.web.context.ContextLoaderListener</listener-class>
  </listener>
  <filter>
    <filter-name>CharacterEncodingFilter</filter-name>
    <filter-class>org.springframework.web.filter.CharacterEncodingFilter</filter-class>
    <init-param>
      <param-name>encoding</param-name>
      <param-value>utf-8</param-value>
    </init-param>
  </filter>
  <filter-mapping>
    <filter-name>CharacterEncodingFilter</filter-name>
    <url-pattern>/*</url-pattern>
  </filter-mapping>
  <servlet>
    <servlet-name>SpringMVC1</servlet-name>
    <servlet-class>org.springframework.web.servlet.DispatcherServlet</servlet-class>
    <init-param>
      <param-name>contextConfigLocation</param-name>
      <param-value>classpath:spring-mvc.xml</param-value>
    </init-param>
    <load-on-startup>1</load-on-startup>
  </servlet>
  <servlet-mapping>
    <servlet-name>SpringMVC1</servlet-name>
    <url-pattern>/</url-pattern>
  </servlet-mapping>
</web-app>