Jenkins Pipeline: Enable timestamps in build log console

I'm wondering why @roomsg comment on the accepted answer didn't become an answer.

I just noticed that (at least in our setup) you can configure this globally: check the "Enabled for all Pipeline builds" in the "Timestamper" section in Jenkins configuration

I think this is the best answering for Q. So,in case you have access as admin you can set it for all pipeline jobs through GUI

Adding options to the declarative pipeline

pipeline {
  agent any
  options { timestamps () }
  // stages and rest of pipeline.
}

Credit goes to the comment above Jenkins Pipeline: Enable timestamps in build log console

For scripted pipeline just wrap your script in timestamps { } Eg.

timestamps {
  // do your job
}

Note: You must have the timestamper plugin installed: wiki.jenkins.io/display/JENKINS/Timestamper