You need kernel version at least 2.6.32-431 or higher (check it with uname -r
command).
curl -O -sSL https://get.docker.com/rpm/1.7.1/centos-6/RPMS/x86_64/docker-engine-1.7.1-1.el6.x86_64.rpm
Then install package via yum:
yum localinstall --nogpgcheck docker-engine-1.7.1-1.el6.x86_64.rpm
Try to run it: