What you should use is the errorLabelContainer
jQuery(function($) {_x000D_
var validator = $('#form').validate({_x000D_
rules: {_x000D_
first: {_x000D_
required: true_x000D_
},_x000D_
second: {_x000D_
required: true_x000D_
}_x000D_
},_x000D_
messages: {},_x000D_
errorElement : 'div',_x000D_
errorLabelContainer: '.errorTxt'_x000D_
});_x000D_
});
_x000D_
.errorTxt{_x000D_
border: 1px solid red;_x000D_
min-height: 20px;_x000D_
}
_x000D_
<script type="text/javascript" src="http://code.jquery.com/jquery-1.11.1.js"></script>_x000D_
<script type="text/javascript" src="http://cdnjs.cloudflare.com/ajax/libs/jquery-validate/1.12.0/jquery.validate.js"></script>_x000D_
<script type="text/javascript" src="http://cdnjs.cloudflare.com/ajax/libs/jquery-validate/1.12.0/additional-methods.js"></script>_x000D_
_x000D_
<form id="form" method="post" action="">_x000D_
<input type="text" name="first" />_x000D_
<input type="text" name="second" />_x000D_
<div class="errorTxt"></div>_x000D_
<input type="submit" class="button" value="Submit" />_x000D_
</form>
_x000D_
If you want to retain your structure then
jQuery(function($) {_x000D_
var validator = $('#form').validate({_x000D_
rules: {_x000D_
first: {_x000D_
required: true_x000D_
},_x000D_
second: {_x000D_
required: true_x000D_
}_x000D_
},_x000D_
messages: {},_x000D_
errorPlacement: function(error, element) {_x000D_
var placement = $(element).data('error');_x000D_
if (placement) {_x000D_
$(placement).append(error)_x000D_
} else {_x000D_
error.insertAfter(element);_x000D_
}_x000D_
}_x000D_
});_x000D_
});
_x000D_
#errNm1 {_x000D_
border: 1px solid red;_x000D_
}_x000D_
#errNm2 {_x000D_
border: 1px solid green;_x000D_
}
_x000D_
<script type="text/javascript" src="http://code.jquery.com/jquery-1.11.1.js"></script>_x000D_
<script type="text/javascript" src="http://cdnjs.cloudflare.com/ajax/libs/jquery-validate/1.12.0/jquery.validate.js"></script>_x000D_
<script type="text/javascript" src="http://cdnjs.cloudflare.com/ajax/libs/jquery-validate/1.12.0/additional-methods.js"></script>_x000D_
_x000D_
<form id="form" method="post" action="">_x000D_
<input type="text" name="first" data-error="#errNm1" />_x000D_
<input type="text" name="second" data-error="#errNm2" />_x000D_
<div class="errorTxt">_x000D_
<span id="errNm2"></span>_x000D_
<span id="errNm1"></span>_x000D_
</div>_x000D_
<input type="submit" class="button" value="Submit" />_x000D_
</form>
_x000D_