Altere o redirecionamento para a extensão do velocity.
<servlet>
<servlet-name>velocity</servlet-name>
<servlet-class>org.apache.velocity.tools.view.servlet.VelocityViewServlet</servlet-class>
<!-- caminho para velocity toolbox.xml -->
<init-param>
<param-name>org.apache.velocity.toolbox</param-name>
<param-value>/WEB-INF/toolbox.xml</param-value>
</init-param>
<!-- caminho para velocity.properties -->
<init-param>
<param-name>org.apache.velocity.properties</param-name>
<param-value>/WEB-INF/velocity.properties</param-value>
</init-param>
</servlet>
<!-- mapear arquivos *.vm para Velocity -->
<servlet-mapping>
<servlet-name>velocity</servlet-name>
<url-pattern>*.vm</url-pattern>
</servlet-mapping>
...
<regex-view-manager>/$component/$logic.$result.vm</regex-view-manager>
...