Most current Linux distributions (RHEL, CentOS, Fedora, Ubuntu 16.04 and higher) use systemd to manage which services start when the system boots. We can use below commands to configure docker to start on boot:

$ sudo systemctl enable docker

To disable this behavior, use disable instead.

$ sudo systemctl disable docker

If you are running on Ubuntu 14.04 LTS or lower, you can use upstart to help you with same:

$ echo manual | sudo tee /etc/init/docker.override