Is there any command which we can run and find out the "Docker Host URI"? I found some of related questions but didn't get it exactly.
Yes this is the docker host uri
tcp://127.0.0.1:2375
But before that you need to add this DOCKER_OPTS="-H tcp://127.0.0.1:2375 -H unix:///var/run/docker.sock"
In /etc/default/docker
at the end of file, then restart the docker.onec restarted docker.sock will run in 2375 and add this tcp://127.0.0.1:2375 in Jenkins