If you may get errors like below,
Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock
or
level=error msg="failed to dial gRPC: cannot connect to the Docker daemon. Is 'docker daemon' running on this host?: dial unix /var/run/docker.sock: connect: permission denied"
Just try to execute the following commands,
$ sudo su - jenkins
$ sudo usermod -a -G docker $USER
$ sudo chown jenkins:docker /var/run/docker.sock