One can use the command docker system df (mirror) (introduced in Docker 1.13.0) to see docker disk usage, e.g.:
username@server:~$ docker system df TYPE
It's worth mentioning in addition to Kerat's answer, the command you may be looking for to free up space listed as RECLAIMABLE is docker system prune -a --volumes. Volumes will not be pruned by default if you don't include the --volumes flag.
RECLAIMABLE
docker system prune -a --volumes
--volumes