node('docker') {
     docker.withRegistry('https://my.registry.com', 'docker-registry-login') {
        def maven = docker.image("my-build-env:jdk8-maven3")
        
        sh "echo ${maven.imageName()} -- ${maven.id}"
        maven.pull()
        maven.inside() {
            sh "echo Hello"
        }
     }
}

Started by user Radesh Rao
[Pipeline] Allocate node : Start
Running on docker in /data/jenkins/workspace/My pipeline
[Pipeline] node {
[Pipeline] Set environment variables : Start
[Pipeline] withEnv {
[Pipeline] Sets up Docker registry endpoint : Start
[Pipeline] withDockerRegistry {
[Pipeline] sh
[Cloud pipeline] Running shell script
+ echo my.registry.com/build-env:jdk8-maven3 -- build-env:jdk8-maven3
my.registry.com/build-env:jdk8-maven3 -- build-env:jdk8-maven3
[Pipeline] sh
[Cloud pipeline] Running shell script
+ docker inspect -f . build-env:jdk8-maven3

Error: No such image or container: build-env:jdk8-maven3
[Pipeline] sh
[Cloud pipeline] Running shell script
+ docker pull my.registry.com/build-env:jdk8-maven3
jdk8-maven3: Pulling from build-env
fdd5d7827f33: Pulling fs layer
// ....
// snip
// ....
416e801cfa37: Pull complete
Digest: sha256:cadb8d0e48a2dc98d1c88f633b8ac226d5df00ffeaa66d3522b02dfdd055351b
Status: Downloaded newer image for my.registry.com/build-env:jdk8-maven3
[Pipeline] Run build steps inside a Docker container : Start
$ docker run -t -d -u 995:991 -w "/data/jenkins/workspace/My pipeline" -v "/data/jenkins/workspace/My pipeline:/data/jenkins/workspace/My pipeline:rw" -v "/data/jenkins/workspace/My pipeline@tmp:/data/jenkins/workspace/My pipeline@tmp:rw" -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** build-env:jdk8-maven3 cat
[Pipeline] Run build steps inside a Docker container : End
[Pipeline] } //withDockerRegistry
[Pipeline] Sets up Docker registry endpoint : End
[Pipeline] } //withEnv
[Pipeline] Set environment variables : End
[Pipeline] } //node
[Pipeline] Allocate node : End
[Pipeline] End of Pipeline
java.io.IOException: Failed to run image 'build-env:jdk8-maven3'. Error: Unable to find image 'build-env:jdk8-maven3' locally
docker: Error response from daemon: Authentication is required: Get https://registry-1.docker.io/v2/library/build-env/manifests/jdk8-maven3: unauthorized: incorrect username or password.
See 'docker run --help'.
	at org.jenkinsci.plugins.docker.workflow.client.DockerClient.run(DockerClient.java:112)
	at org.jenkinsci.plugins.docker.workflow.WithContainerStep$Execution.start(WithContainerStep.java:145)
	at org.jenkinsci.plugins.workflow.cps.DSL.invokeMethod(DSL.java:136)
	at org.jenkinsci.plugins.workflow.cps.CpsScript.invokeMethod(CpsScript.java:113)
	at org.codehaus.groovy.runtime.callsite.PogoMetaClassSite.call(PogoMetaClassSite.java:45)
	at org.codehaus.groovy.runtime.callsite.CallSiteArray.defaultCall(CallSiteArray.java:42)
	at org.codehaus.groovy.runtime.callsite.AbstractCallSite.call(AbstractCallSite.java:108)
	at com.cloudbees.groovy.cps.sandbox.DefaultInvoker.methodCall(DefaultInvoker.java:15)
	at org.jenkinsci.plugins.docker.workflow.Docker$Image.inside(jar:file:/var/lib/jenkins/plugins/docker-workflow/WEB-INF/lib/docker-workflow.jar!/org/jenkinsci/plugins/docker/workflow/Docker.groovy:112)
	at org.jenkinsci.plugins.docker.workflow.Docker.node(jar:file:/var/lib/jenkins/plugins/docker-workflow/WEB-INF/lib/docker-workflow.jar!/org/jenkinsci/plugins/docker/workflow/Docker.groovy:63)
	at org.jenkinsci.plugins.docker.workflow.Docker$Image.inside(jar:file:/var/lib/jenkins/plugins/docker-workflow/WEB-INF/lib/docker-workflow.jar!/org/jenkinsci/plugins/docker/workflow/Docker.groovy:104)
	at WorkflowScript.run(WorkflowScript:10)
	at org.jenkinsci.plugins.docker.workflow.Docker.withRegistry(jar:file:/var/lib/jenkins/plugins/docker-workflow/WEB-INF/lib/docker-workflow.jar!/org/jenkinsci/plugins/docker/workflow/Docker.groovy:38)
	at ___cps.transform___(Native Method)
	at com.cloudbees.groovy.cps.impl.ContinuationGroup.methodCall(ContinuationGroup.java:55)
	at com.cloudbees.groovy.cps.impl.FunctionCallBlock$ContinuationImpl.dispatchOrArg(FunctionCallBlock.java:106)
	at com.cloudbees.groovy.cps.impl.FunctionCallBlock$ContinuationImpl.fixArg(FunctionCallBlock.java:79)
	at sun.reflect.GeneratedMethodAccessor518.invoke(Unknown Source)
	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.lang.reflect.Method.invoke(Method.java:606)
	at com.cloudbees.groovy.cps.impl.ContinuationPtr$ContinuationImpl.receive(ContinuationPtr.java:72)
	at com.cloudbees.groovy.cps.impl.ClosureBlock.eval(ClosureBlock.java:40)
	at com.cloudbees.groovy.cps.Next.step(Next.java:58)
	at com.cloudbees.groovy.cps.Continuable.run0(Continuable.java:154)
	at org.jenkinsci.plugins.workflow.cps.CpsThread.runNextChunk(CpsThread.java:164)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup.run(CpsThreadGroup.java:277)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup.access$000(CpsThreadGroup.java:77)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$2.call(CpsThreadGroup.java:186)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$2.call(CpsThreadGroup.java:184)
	at org.jenkinsci.plugins.workflow.cps.CpsVmExecutorService$2.call(CpsVmExecutorService.java:47)
	at java.util.concurrent.FutureTask$Sync.innerRun(FutureTask.java:334)
	at java.util.concurrent.FutureTask.run(FutureTask.java:166)
	at hudson.remoting.SingleLaneExecutorService$1.run(SingleLaneExecutorService.java:112)
	at jenkins.util.ContextResettingExecutorService$1.run(ContextResettingExecutorService.java:28)
	at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:471)
	at java.util.concurrent.FutureTask$Sync.innerRun(FutureTask.java:334)
	at java.util.concurrent.FutureTask.run(FutureTask.java:166)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1145)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:615)
	at java.lang.Thread.run(Thread.java:724)
Finished: FAILURE