I replaced the starter and now my car will not crank without a jumper wire to the battery from the starter?

Sure, you may have a defective starter but to be sure let's use a test light at the trigger wire (small wire) at the starter while the key is in the crank position. Here is a guide that can help, if you have power then the starter is defective, if not then we need to check further which I can help with. Please go over this guide and I have included the starter wiring diagrams so you can see how the system works.

https://www.2carpros.com/articles/starter-not-working-repair

and

https://www.2carpros.com/articles/how-to-check-a-car-fuse

Please check fuse# 12 in the fuse panel on the left side of the dash and fuse# LINK M 40 amp in the fuse panel under the hood. Check out the images (below). Please let us know what happens.