On Windows 10, I have docker installed. I am running Jnekins on a container and I encountered the same error message. Here is a step by step guide to resolve this issue:
Step 1: Open gitbash and run docker run -p 8080:8080 -p 50000:50000 jenkins.
Step 2: Open a new terminal.
Step 3: Do "docker ps" to get list of the running container. Copy the container id.
Step 4: Now if you do "docker exec -it {container id} sh" or "docker exec -it {container id} bash" you will get an error message similar to " the input device is not a TTY. If you are using mintty, try prefixing the command with 'winpty'"
Step 5: Run command " $winpty docker exec -it {container id} sh"
vola !! You are now inside the terminal.