首先，制作支持docker的jenkins镜像，基础镜像是jenkins:2.60.3
参考Running Docker in Jenkins (in Docker)

编辑Dockerfile，内容如下：

FROM jenkins:2.60.3

USER root
RUN echo '' > /etc/apt/sources.list.d/jessie-backports.list \
  && echo "deb http://mirrors.aliyun.com/debian jessie main contrib non-free" > /etc/apt/sources.list \
  && echo "deb http://mirrors.aliyun.com/debian jessie-updates main contrib non-free" >> /etc/apt/sources.list \
  && echo "deb http://mirrors.aliyun.com/debian-security jessie/updates main contrib non-free" >> /etc/apt/sources.list

RUN apt-get update       && apt-get install -y sudo       && apt-get install -y libltdl7       && rm -rf /var/lib/apt/lists/*
RUN echo "jenkins ALL=NOPASSWD: ALL" >> /etc/sudoers

USER jenkins
COPY plugins.txt /usr/share/jenkins/plugins.txt
RUN /usr/local/bin/plugins.sh /usr/share/jenkins/plugins.txt

出现在执行docker命令时报：docker: error while loading shared libraries: libltdl.so.7: cannot open shared object file: No such file or directory错误解决办法，参考
加入如下代码后，问题解决：

RUN echo '' > /etc/apt/sources.list.d/jessie-backports.list \
  && echo "deb http://mirrors.aliyun.com/debian jessie main contrib non-free" > /etc/apt/sources.list \
  && echo "deb http://mirrors.aliyun.com/debian jessie-updates main contrib non-free" >> /etc/apt/sources.list \
  && echo "deb http://mirrors.aliyun.com/debian-security jessie/updates main contrib non-free" >> /etc/apt/sources.list

预先安装的插件，放入plugins.txt文件中，也可以部署jenkins后，手动安装插件。

scm-api:latest
git-client:latest
git:latest
greenballs:latest

启动jenkins容器，执行如下命令，启动jenkins容器

docker run -d -v /var/run/docker.sock:/var/run/docker.sock -v $(which docker):/usr/bin/docker -v $PWD:/var/jenkins_home -p 8080:8080 jenkins:v2.6

注意挂载-v /var/run/docker.sock:/var/run/docker.sock -v $(which docker):/usr/bin/docker，才可以共享宿主机的docker资源
指定工作目录：-v $PWD:/var/jenkins_home，将当前目录作为jenkins的工作目录。
此时，可以通过ip:8080端口访问jenkins，按照提示一步一步进行。配置完后，就可以使用了。
首先，我们新建一个pipeline构建计划，Jenkinsfile内容：

pipeline {
    agent any
    stages {
        stage('Test') {
            steps {
                sh 'docker images'
            }
        }
    }
}

，执行立即构建，当执行pipeline中的docker images命令时，报错：

+ docker images
Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Get http://%2Fvar%2Frun%2Fdocker.sock/v1.37/images/json: dial unix /var/run/docker.sock: connect: permission denied

这是jenkinsfile中的命令在访问宿主机的unix:///var/run/docker.sock守护进程时，权限不足。在jenkins中，执行pipeline的用户是jenkins，可以在pipelines中的docker命令前增加sudo，便成功执行：

[test_pipeline] Running shell script
+ sudo docker images
REPOSITORY          TAG                 IMAGE ID            CREATED             SIZE
jenkins             v2.6.3              7c6cba7c8a03        18 minutes ago      705MB
jenkins             v2.6                bb042102b598        3 hours ago         705MB
jenkins             2.60.3              cd14cecfdb3a        2 days ago          696MB
busybox             latest              22c2dd5ee85d        3 days ago          1.16MB

原文链接：Docker中启动jenkins容器，并在jenkins中使用docker 命令，解决docker command not found