I am running Jenkins in a docker container and Jenkins tries to run my maven build. As part of the build, the docker maven plugin instructs it to build a docker image.
I had the same problem, but in my local machine.
I've got it after reading this comment in Github thread: https://github.com/docker/compose/issues/1214#issuecomment-256774629
It says:
Solution (from https://docs.docker.com/engine/installation/linux/debian/, does not only work with Debian):
Add the docker group if it doesn't already exist.
sudo groupadd docker
Add the connected user "${USER}" to the docker group. Change the user name to match your preferred user. You may have to logout and log back in again for this to take effect.
sudo gpasswd -a ${USER} docker
Restart the Docker daemon.
sudo service docker restart