Be aware that some plugs cause a short circuit when plugging in/out. This can trigger anything including unwanted effects like damage. -> that makes the world of choice a bit smaller.
Basically - just about any coaxial plug/jack, like the OP's original 1/8" stereo plug/jack; such should be reserved for very low-voltage signals only, where shorts aren't an issue.
For a servo, though - you could do what the RC hobby world does, and just have exposed 3-pin male headers to plug the servos into - fairly standard and expected.
If, however, such connections need more protection from being unplugged, four-pin RJ11 plugs and jacks are a robust and easy-to-use (not to mention common) solution.