Is it possible to use docker without sudo?

If you don’t want to preface the docker command with sudo, create a Unix group called docker and add users to it. When the Docker daemon starts, it creates a Unix socket accessible by members of the docker group.

Warning:

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.

If you still want to run docker without sudo:

• Add the docker group if it doesn't already exist:

   sudo groupadd docker
  

• Add the connected user "$USER" to the docker group. Change the user name to match your preferred user if you do not want to use your current user:

   sudo usermod -aG docker $USER
  

• Either do a newgrp docker or log out/in to activate the changes to groups (If testing on a virtual machine, it may be necessary to restart the virtual machine for changes to take effect).

• You can use

   docker run hello-world
  

  to check if you can run docker without sudo.

PS:
If you initially ran Docker CLI commands using sudo before adding your user to the docker group, you may see the following error, which indicates that your ~/.docker/ directory was created with incorrect permissions due to the sudo commands.

WARNING: Error loading config file: /home/user/.docker/config.json -
stat /home/user/.docker/config.json: permission denied

To fix this problem, either remove the ~/.docker/ directory (it is recreated automatically, but any custom settings are lost), or change its ownership and permissions using the following commands:

sudo chown "$USER":"$USER" /home/"$USER"/.docker -R
sudo chmod g+rwx "$HOME/.docker" -R

Once finished, you need to restart your session/re-login sudo su $USER to use docker without sudo.

Source: Docker documentation