Можно как-то так:

$ sudo socat -v UNIX-LISTEN:/tmp/socat-listen,ignoreeof,fork UNIX-CONNECT:/var/run/docker.sock,ignoreeof &
[1] 14726
$ sudo docker --host=unix:///tmp/socat-listen images
> 2018/04/12 12:46:29.989304  length=79 from=0 to=78
GET /_ping HTTP/1.1\r
Host: docker\r
User-Agent: Docker-Client/1.13.1 (linux)\r
\r
< 2018/04/12 12:46:29.994767  length=196 from=0 to=195
HTTP/1.1 200 OK\r
Api-Version: 1.26\r
Docker-Experimental: false\r
Server: Docker/1.13.1 (linux)\r
Date: Thu, 12 Apr 2018 19:46:29 GMT\r
Content-Length: 2\r
Content-Type: text/plain; charset=utf-8\r
\r
OK> 2018/04/12 12:46:29.999271  length=91 from=79 to=169
GET /v1.26/images/json HTTP/1.1\r
Host: docker\r
User-Agent: Docker-Client/1.13.1 (linux)\r
\r
< 2018/04/12 12:46:30.000197  length=516 from=196 to=711
HTTP/1.1 200 OK\r
Api-Version: 1.26\r
Content-Type: application/json\r
Docker-Experimental: false\r
Server: Docker/1.13.1 (linux)\r
Date: Thu, 12 Apr 2018 19:46:30 GMT\r
Content-Length: 329\r
\r
[{"Containers":-1,"Created":1522924888,"Id":"sha256:8ac48589692a53a9b8c2d1ceaa6b402665aa7fe667ba51ccc03002300856d8c7","Labels":null,"ParentId":"","RepoDigests":["busybox@sha256:58ac43b2cc92c687a32c8be6278e50a063579655fe3090125dcb2af0ff9e1a64"],"RepoTags":["busybox:latest"],"SharedSize":-1,"Size":1146369,"VirtualSize":1146369}]
REPOSITORY          TAG                 IMAGE ID            CREATED             SIZE
busybox             latest              8ac48589692a        7 days ago          1.15 MB
$

Вместо -v можно -x (hexadecimal), или комбирированный -v -x. Ну и банальный strace -e.... никто не отменял.