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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 ) - journalctl -u 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/d‌​ocker.log