It depends on your OS. Here are the few locations, with commands for few Operating Systems:
· Ubuntu (old using upstart ) - /var/log/upstart/docker.log
· Ubuntu (new using systemd ) - sudo journalctl -fu docker.service
· Boot2Docker - /var/log/docker.log
· Debian GNU/Linux - /var/log/daemon.log
· CentOS - /var/log/daemon.log | grep docker
· CoreOS - journalctl -u docker.service
· Fedora - journalctl -u docker.service
· Red Hat Enterprise Linux Server - /var/log/messages | grep docker
· OpenSuSE - journalctl -u docker.service
· OSX - ~/Library/Containers/com.docker.docker/Data/com.docker.driver.amd64-linux/log/docker.log
Windows - Get-EventLog -LogName Application -Source Docker -After (Get-Date).AddMinutes(-5) | Sort-Object Time