If you need to run docker command without sudo, then you need to add your user into docker group.
Create the docker group.
$ sudo groupadd docker
Add your user to the docker group.
$ sudo usermod -aG docker $USER
Log out and log back in so that your group membership is re-evaluated.
Verify that you can run docker commands without sudo.
$ docker run hello-world
The docker group grants privileges equivalent to the root user. For details on how this impacts security in your system, see Docker Daemon Attack Surface.