1、使用apt源安装

1）添加使用 HTTPS 传输的软件包以及 CA 证书

$ sudo apt-get update
$ sudo apt-get install \
     apt-transport-https \
     ca-certificates \
     curl \
     gnupg2 \
     lsb-release \
     software-properties-common

2）添加软件源的 GPG 密钥

国内源：

$ curl -fsSL https://mirrors.aliyun.com/docker-ce/linux/raspbian/gpg | sudo apt-key add -

官方源：

$ curl -fsSL https://download.docker.com/linux/raspbian/gpg | sudo apt-key add -

3）向 sources.list 中添加 Docker 软件源

国内源：

$ sudo add-apt-repository \
    "deb [arch=armhf] https://mirrors.aliyun.com/docker-ce/linux/raspbian \
    $(lsb_release -cs) \
    stable"

官方源：

$ sudo add-apt-repository \
   "deb [arch=armhf] https://download.docker.com/linux/raspbian \
   $(lsb_release -cs) \
   stable"

3）安装 Docker

$ sudo apt-get update
$ sudo apt-get install docker-ce

2、使用官方安装脚本自动安装

指定使用国内源进行安装

curl -fsSL https://get.docker.com | bash -s docker --mirror Aliyun

或者

curl -sSL https://get.daocloud.io/docker | sh

3、配置Docker

1）建立 docker 用户组

默认情况下，docker 命令会使用 Unix socket 与 Docker 引擎通讯。而只有 root 用户和 docker 组的用户才可以访问 Docker 引擎的 Unix socket。出于安全考虑，一般 Linux 系统上不会直接使用 root 用户。因此，更好地做法是将需要使用 docker 的用户加入 docker 用户组。

命令如下：

$ sudo groupadd docker

2）将当前用户加入 docker 组

$ sudo usermod -aG docker $USER

3）退出当前终端并重新登录即可

4）配置镜像加速

参考文档：Linux Docker 配置阿里云镜像加速的方法

4、启动并加入开机启动

$ sudo systemctl start docker
$ sudo systemctl enable docker

5、测试Docker是否安装成功

$ docker run --rm hello-world

如安装成功，则出现信息如下：

Unable to find image 'hello-world:latest' locally
latest: Pulling from library/hello-world
2db29710123e: Pull complete
Digest: sha256:37a0b92b08d4919615c3ee023f7ddb068d12b8387475d64c622ac30f45c29c51
Status: Downloaded newer image for hello-world:latest
Hello from Docker!
This message shows that your installation appears to be working correctly.
To generate this message, Docker took the following steps:
1. The Docker client contacted the Docker daemon.
2. The Docker daemon pulled the "hello-world" image from the Docker Hub.
(amd64)
3. The Docker daemon created a new container from that image which runs the
executable that produces the output you are currently reading.
4. The Docker daemon streamed that output to the Docker client, which sent it
to your terminal.
To try something more ambitious, you can run an Debian container with:
$ docker run -it debian bash
Share images, automate workflows, and more with a free Docker ID:
https://hub.docker.com/
For more examples and ideas, visit:
https://docs.docker.com/get-started/