STEP-1
Go to Jira Settings right top corner → Apps → CircleCI Connector.
Generate CircleCI Personal Token
STEP-2
Go to CircleCI App → Click Project → Copy URL from Browser.
Go to Jira Issue choose Panel CircleCI Workflows → Edit.
Demo URL. https://app.circleci.com/pipelines/circleci/XDdt1udpVDhwyqap3tCrAY/CoWCXxcQEymmDVoEgBD3yp
That's It.