<p>I've been doing some work with the JAX-RS reference implementation (Jersey).
I know of at least two other frameworks (Restlet &amp; Apache CXF).</p>

<p>My question is: Has anyone done some comparison between those frameworks and if so, which framework would you recommend and why?</p>

My colleague mentions why we are using RESTeasy for our current project in
RESTful web services in Java EE with RESTeasy (JAX-RS)
:
Its reference implementation, Jersey, was not chosen because we had trouble integrating it well with EJB3 and Seam 2.0.
We are using the RESTeasy implementation of JAX-RS, because we had no trouble integrating it with our EJBs and Seam. It also has sufficient documentation.
There is another implementation from Apache, but I haven’t tried it because it uses an older version of JAX-RS.
Finally there is yet another framework for RESTful web services for Java called Restlet but we did not favour it because at the time of this writing, it is using a custom architecture, even though proper JAX-RS support is in the works.