According to the Codex, wp_enqueue_script supports protocol relative, or protocol agnostic external links: “Remote assets can be specified with a protocol-agnostic URL, i.e. ‘//otherdomain.com/js/theirscript.js’.”
But I’m not seeing it:
wp_enqueue_script('google-maps', '//maps.googleapis.com/maps/api/js?&sensor=false', array(), '3', true);
Output:
<script type='text/javascript' src='http://localhost:25898//maps.googleapis.com/maps/api/js?sensor=false&ver=3'></script>
Notice that the protocol relative URL is appended to the site URL.
The code you posted works fine and results in this in the HTML output:
Tested on WordPress 3.5 with this code snippet: