需要在把宿主的sock映射到容器里

version: '3'
services:
  jenkins:
    image: jenkins/jenkins:latest-jdk17
    container_name: jenkins
    ports:
      - '${JENKINS_HOST_PORTUI}:8080'
      - '${JENKINS_HOST_PORT}:5000'
    volumes:
      - ${JENKINS_FILES_DIR}:/var/jenkins_home
      - /var/run/docker.sock:/var/run/docker.sock
    networks:
      - default

权限不够，简单解决下

chmod 666 /var/run/docker.sock