docker: Got permission denied while trying to connect to the Docker daemon socket at unix

We have received below error when tried to run image in docker.

docker: Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post http://%2Fvar%2Frun%2Fdocker.sock/v1.40/containers/create: dial unix /var/run/docker.sock: connect: permission denied. See 'docker run --help'.

docker Got permission denied while trying to connect to the Docker daemon socket at unix

Reason:

We have tried to run docker image with non-root privileges.
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