I want to add to the answers above that it becomes a little more difficult if Jenkins authorization is enabled.
After enabling it I got an error message that anonymous user needs read permission.
I saw two possible solutions:
1: Changing my hook to:
curl --user name:passwd -s http://domain?token=whatevertokenuhave
2: setting project based authorization.
The former solutions has the disadvantage that I had to expose my passwd in the hook file. Unacceptable in my case.
The second works for me. In the global auth settings I had to enable Overall>Read for Anonymous user. In the project I wanted to trigger I had to enable Job>Build and Job>Read for Anonymous.
This is still not a perfect solution because now you can see the project in Jenkins without login. There might be an even better solution using the former approach with http login but I haven't figured it out.